From ee2ba4f2138f900e243fea6c0f999def806c0b36 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= Date: Wed, 11 Jun 2025 19:35:47 +0800 Subject: [PATCH] =?UTF-8?q?=E8=B0=83=E6=95=B4=E5=8A=A0=E7=83=AD=E9=80=BB?= =?UTF-8?q?=E8=BE=91=EF=BC=8C=E5=A2=9E=E5=8A=A0=E9=A2=84=E7=83=AD=E3=80=81?= =?UTF-8?q?=E9=99=8D=E6=B8=A9=E7=9A=84=E9=80=BB=E8=BE=91=20=E4=BF=AE?= =?UTF-8?q?=E5=A4=8D=E9=83=A8=E5=88=86=E5=B7=A5=E8=89=BA=E9=97=AE=E9=A2=98?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../app/command/control/MoveToHeatAreaCommand.java | 48 +++-- .../command/control/MoveToSolutionAreaCommand.java | 51 +++-- .../iflytop/gd/app/controller/TestController.java | 5 +- .../com/iflytop/gd/app/core/CraftsContext.java | 5 +- .../model/bo/status/device/HeatModuleState.java | 6 +- .../iflytop/gd/app/model/vo/HeatCountdownVO.java | 32 --- .../iflytop/gd/app/service/api/CraftsService.java | 32 +-- .../iflytop/gd/app/service/api/TestService.java | 6 +- .../iflytop/gd/app/service/api/TrayService.java | 3 +- .../gd/app/service/crafts/CraftsStepService.java | 240 ++++++++++++--------- .../gd/app/service/device/DeviceInitService.java | 65 +++--- .../service/device/module/HeatModuleService.java | 59 ++++- .../scheduled/FetchTemperatureScheduledTask.java | 5 +- .../scheduled/HeatCountdownScheduledTask.java | 5 - .../com/iflytop/gd/common/enums/HeatingType.java | 4 + 15 files changed, 335 insertions(+), 231 deletions(-) delete mode 100644 src/main/java/com/iflytop/gd/app/model/vo/HeatCountdownVO.java 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..c8204e2 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 @@ -2,6 +2,9 @@ package com.iflytop.gd.app.command.control; import com.iflytop.gd.app.core.BaseCommandHandler; import com.iflytop.gd.app.model.bo.Point3D; +import com.iflytop.gd.app.model.bo.status.device.HeatModuleState; +import com.iflytop.gd.app.model.bo.status.device.SolutionModuleState; +import com.iflytop.gd.app.model.bo.status.device.TrayState; import com.iflytop.gd.app.model.dto.CmdDTO; import com.iflytop.gd.app.service.api.DevicePositionService; import com.iflytop.gd.app.service.device.DeviceCommandTempUtilService; @@ -49,6 +52,27 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler { } String heatId = cmdDTO.getStringParam("heatId"); HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId); + + //校验目标加热位是否有托盘 + try { + deviceStateService.getCommandMutexState().get().setMoveToHeatAreaCommandExecuting(true); + HeatModuleState heatModuleState = deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode); + if(heatModuleState.getTrayStatus() == 1){ + throw new AppException(ResultCode.TARGET_HEAT_MODULE_OCCUPIED); + } +// Boolean heatModuleTray = heatModuleService.heatModuleSensorState(heatModuleCode); +// if (heatModuleTray) { +// throw new AppException(ResultCode.TARGET_HEAT_MODULE_OCCUPIED); +// } + SolutionModuleState solutionModuleState = deviceStateService.getDeviceState().getSolutionModule(); + if(solutionModuleState.getTrayStatus() == 0){ + throw new AppException(ResultCode.SOLUTION_MODULE_NO_TRAY); + } + } catch (Exception e) { + deviceStateService.getCommandMutexState().get().setMoveToHeatAreaCommandExecuting(false); + throw e; + } + double clawCapPick = devicePositionService.getPosition(DevicePositionCode.clawCapPick).getDistance(); //获取拍子夹取距离 double clawCapGrip = devicePositionService.getPosition(DevicePositionCode.clawCapGrip).getDistance(); //获取拍子夹紧距离 double clawTrayPick = devicePositionService.getPosition(DevicePositionCode.clawTrayPick).getDistance();//获取夹爪托盘夹取距离 @@ -66,51 +90,39 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler { Point3D heatAreaCapClawPointPoint3D = heatModuleService.getHeatAreaCapClawPointPoint3D(heatModuleCode);//获取指定加热模块拍子上方点位 Point3D capStorageCapClawPoint3D = devicePositionService.getPosition(DevicePositionCode.capStorageCapClawPoint).getPoint3D();//获取拍子存放区上方点位; - //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) { -// throw new AppException(ResultCode.TARGET_HEAT_MODULE_OCCUPIED); -// } - } catch (Exception e) { - deviceStateService.getCommandMutexState().get().setMoveToHeatAreaCommandExecuting(false); - throw e; - } return runAsync(() -> { try { -// TrayState trayState = deviceStateService.getTrayInSolutionModule(); + TrayState trayState = deviceStateService.getDeviceState().getTrayInSolutionModule(); + trayState.setHeatModuleId(heatModuleCode); 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 + deviceCommandTempUtilService.moveTrayHeatModuleAvoidDownNoWait(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.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 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 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 + trayState.setInHeatModule(true); gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方 + deviceCommandTempUtilService.moveTrayHeatModuleAvoidDownNoWait(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.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 + deviceCommandTempUtilService.moveTrayHeatModuleAvoidUpNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);Thread.sleep(4000);//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(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 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 b4f9fcf..b3f66eb 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 @@ -2,6 +2,9 @@ package com.iflytop.gd.app.command.control; import com.iflytop.gd.app.core.BaseCommandHandler; import com.iflytop.gd.app.model.bo.Point3D; +import com.iflytop.gd.app.model.bo.status.device.HeatModuleState; +import com.iflytop.gd.app.model.bo.status.device.SolutionModuleState; +import com.iflytop.gd.app.model.bo.status.device.TrayState; import com.iflytop.gd.app.model.dto.CmdDTO; import com.iflytop.gd.app.service.api.DevicePositionService; import com.iflytop.gd.app.service.device.DeviceCommandTempUtilService; @@ -52,6 +55,27 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler { } String heatId = cmdDTO.getStringParam("heatId"); HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId); + + //校验目标加热位是否有托盘 + try { + deviceStateService.getCommandMutexState().get().setMoveToSolutionAreaCommandExecuting(true); + HeatModuleState heatModuleState = deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode); + if(heatModuleState.getTrayStatus() == 0){ + throw new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY); + } +// Boolean heatModuleTray = heatModuleService.heatModuleSensorState(heatModuleCode); +// if (!heatModuleTray) { +// throw new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY); +// } + SolutionModuleState solutionModuleState = deviceStateService.getDeviceState().getSolutionModule(); + if(solutionModuleState.getTrayStatus() == 1){ + throw new AppException(ResultCode.SOLUTION_MODULE_OCCUPIED); + } + } catch (Exception e) { + deviceStateService.getCommandMutexState().get().setMoveToSolutionAreaCommandExecuting(false); + throw e; + } + double clawCapPick = devicePositionService.getPosition(DevicePositionCode.clawCapPick).getDistance(); //获取拍子夹取距离 double clawCapGrip = devicePositionService.getPosition(DevicePositionCode.clawCapGrip).getDistance(); //获取拍子夹紧距离 double clawTrayPick = devicePositionService.getPosition(DevicePositionCode.clawTrayPick).getDistance();//获取夹爪托盘夹取距离 @@ -69,52 +93,41 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler { Point3D heatAreaCapClawPointPoint3D = heatModuleService.getHeatAreaCapClawPointPoint3D(heatModuleCode);//获取指定加热模块拍子上方点位 Point3D capStorageCapClawPoint3D = devicePositionService.getPosition(DevicePositionCode.capStorageCapClawPoint).getPoint3D();//获取拍子存放区上方点位; - //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) { -// throw new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY); -// } - } catch (Exception e) { - deviceStateService.getCommandMutexState().get().setMoveToSolutionAreaCommandExecuting(false); - throw e; - } return runAsync(() -> { try { -// TrayState trayState = deviceStateService.getTrayInSolutionModule(); + TrayState trayState = deviceStateService.getDeviceState().getTrayStateByHeatModuleCode(heatModuleCode); solutionModuleService.requestSolutionModule();//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 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaCapClawPointPoint3D);//将机械臂移动至加热模块拍子上方 + deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(1);//将加热模块托盘状态改为抬起 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 + deviceCommandTempUtilService.moveTrayHeatModuleAvoidDownNoWait(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.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0); Thread.sleep(4000);//抬升z轴 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawPoint3D);//将携带拍子的机械臂移动至存放区上方 + deviceCommandTempUtilService.moveTrayHeatModuleAvoidUpNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand(), null);//TODO 临时避 恢复抬起状态 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.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaTrayClawPoint3D);//将机械臂移动至加热模块上方 - deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(1);//将加热模块托盘状态改为抬起 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayPick);//将夹爪打开，准备夹取托盘 gantryModuleService.gantryZMove(heatModuleTrayMoveHeight);//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 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); 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 -// 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 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(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().getSolutionModule().setTrayStatus(1);//加液模块是否存在托盘 + trayState.setInSolutionModule(true); gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayPick);//将夹爪打开，释放托盘 gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方 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..f056839 100644 --- a/src/main/java/com/iflytop/gd/app/controller/TestController.java +++ b/src/main/java/com/iflytop/gd/app/controller/TestController.java @@ -8,6 +8,7 @@ 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.enums.HeatingType; import com.iflytop.gd.common.result.Result; import com.iflytop.gd.hardware.exception.HardwareException; import io.swagger.v3.oas.annotations.Operation; @@ -108,8 +109,8 @@ public class TestController { @Operation(summary = "设置当前温度") @PostMapping("/set-temperature") - public Result setTemperature(HeatModuleCode code, Double temperature) throws Exception { - testService.setTemperature(code, temperature); + public Result setTemperature(HeatModuleCode code, Double temperature, HeatingType heatingType) throws Exception { + testService.setTemperature(code, temperature, heatingType); return Result.success(); } } 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 262c4d5..313d2eb 100644 --- a/src/main/java/com/iflytop/gd/app/core/CraftsContext.java +++ b/src/main/java/com/iflytop/gd/app/core/CraftsContext.java @@ -3,7 +3,6 @@ package com.iflytop.gd.app.core; import cn.hutool.json.JSONUtil; import com.iflytop.gd.app.model.bo.CraftsStep; import com.iflytop.gd.app.model.bo.status.device.CraftsState; -import com.iflytop.gd.app.model.bo.status.device.TrayState; import com.iflytop.gd.app.model.entity.Crafts; import com.iflytop.gd.app.model.entity.Ores; import com.iflytop.gd.app.service.crafts.CraftsStepService; @@ -83,6 +82,8 @@ public class CraftsContext implements Runnable { try { Message startMsg = MessageBuilder.withPayload(CraftEvents.START).build(); Mono.from(sm.sendEvent(Mono.just(startMsg))).block(); + craftsStepService.start(this); + for (; currentIndex < craftsStepList.size(); currentIndex++) { if (sm.getState().getId() == CraftStates.STOPPED) break; CraftsStep step = craftsStepList.get(currentIndex); @@ -103,7 +104,7 @@ public class CraftsContext implements Runnable { } } if (sm.getState().getId() == CraftStates.RUNNING) { - craftsStepService.finish(heatModuleCode);//工艺执行完毕将托盘移动至加液模块 + craftsStepService.finish(this); 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/model/bo/status/device/HeatModuleState.java b/src/main/java/com/iflytop/gd/app/model/bo/status/device/HeatModuleState.java index b250e74..bb4a98e 100644 --- a/src/main/java/com/iflytop/gd/app/model/bo/status/device/HeatModuleState.java +++ b/src/main/java/com/iflytop/gd/app/model/bo/status/device/HeatModuleState.java @@ -29,9 +29,9 @@ public class HeatModuleState { @Schema(description = "当前加热类型") private HeatingType heatingType = HeatingType.stop; - - @Schema(description = "是否正在加热，true为正在加热，false为未加热")//可能去掉这个状态 - private boolean heating = false; +// +// @Schema(description = "是否正在加热，true为正在加热，false为未加热")//可能去掉这个状态 +// private boolean heating = false; @Schema(description = "是否启动散热，true为正在散热，false为未在散热") private boolean fanOpen = false; diff --git a/src/main/java/com/iflytop/gd/app/model/vo/HeatCountdownVO.java b/src/main/java/com/iflytop/gd/app/model/vo/HeatCountdownVO.java deleted file mode 100644 index bdaaba3..0000000 --- a/src/main/java/com/iflytop/gd/app/model/vo/HeatCountdownVO.java +++ /dev/null @@ -1,32 +0,0 @@ -package com.iflytop.gd.app.model.vo; - -import com.fasterxml.jackson.annotation.JsonFormat; -import com.iflytop.gd.app.model.entity.Solutions; -import com.iflytop.gd.common.enums.HeatModuleCode; -import io.swagger.v3.oas.annotations.media.Schema; -import lombok.Data; - -import java.time.LocalDateTime; - -@Schema(description = "加热倒计时") -@Data -public class HeatCountdownVO { - @Schema(description = "加热模块code") - private HeatModuleCode heatModuleCode; - - @Schema(description = "加热剩余秒数格式化显示") - private String countdownStr; - - @Schema(description = "加热剩余秒数") - private Integer countdown; - - @Schema(description = "开始加热时间") - @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss") - private LocalDateTime startTime; - - @Schema(description = "结束加热时间") - @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss") - private LocalDateTime endTime; - - -} diff --git a/src/main/java/com/iflytop/gd/app/service/api/CraftsService.java b/src/main/java/com/iflytop/gd/app/service/api/CraftsService.java index 76a383f..0c3554b 100644 --- a/src/main/java/com/iflytop/gd/app/service/api/CraftsService.java +++ b/src/main/java/com/iflytop/gd/app/service/api/CraftsService.java @@ -4,10 +4,7 @@ import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl; import com.iflytop.gd.app.core.CraftsContext; import com.iflytop.gd.app.mapper.CraftsMapper; -import com.iflytop.gd.app.model.bo.status.device.CraftsState; -import com.iflytop.gd.app.model.bo.status.device.HeatModuleState; -import com.iflytop.gd.app.model.bo.status.device.TrayState; -import com.iflytop.gd.app.model.bo.status.device.TubeState; +import com.iflytop.gd.app.model.bo.status.device.*; import com.iflytop.gd.app.model.dto.StartCraftsDTO; import com.iflytop.gd.app.model.entity.Crafts; import com.iflytop.gd.app.model.entity.Ores; @@ -101,6 +98,18 @@ public class CraftsService extends ServiceImpl { public synchronized SetCraftsVO startCrafts(StartCraftsDTO startCraftsDTO) { long craftId = startCraftsDTO.getCraftId(); HeatModuleCode heatModuleCode = startCraftsDTO.getHeatId(); + SolutionModuleState solutionModuleState = deviceStateService.getDeviceState().getSolutionModule(); + if (solutionModuleState.getTrayStatus() == 0) { + throw new AppException(ResultCode.SOLUTION_MODULE_NO_TRAY); + } + TrayState trayState = deviceStateService.getDeviceState().getTrayInSolutionModule(); + if(trayState.getCrafts() != null){ + throw new AppException(ResultCode.SOLUTION_MODULE_OCCUPIED); + } + HeatModuleState heatModuleState = deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode); + if (heatModuleState != null && heatModuleState.getTrayStatus() == 1) { + throw new AppException(ResultCode.TARGET_HEAT_MODULE_OCCUPIED); + } Crafts craft = this.getById(craftId); if (craft == null) { throw new AppException(ResultCode.INVALID_PARAMETER); @@ -109,18 +118,16 @@ public class CraftsService extends ServiceImpl { if (ores == null) { throw new AppException(ResultCode.INVALID_PARAMETER); } - if (deviceStateService.getDeviceState().getSolutionModule().getTrayStatus() == 0) { - throw new AppException(ResultCode.SOLUTION_MODULE_NO_TRAY); - } + //判断是否指定加热区id if (heatModuleCode == null) { //如果没有指定加热区id，则自动获取一个 - HeatModuleState heatModuleState = heatModuleService.getIdleHeatModule(); - if (heatModuleState == null) { + HeatModuleState autoHeatModuleState = heatModuleService.getIdleHeatModule(craft); + if (autoHeatModuleState == null) { log.error("自动分配工艺失败，无空闲加热模块。"); throw new AppException(ResultCode.HEAT_MODULE_NO_IDLE); } else { - heatModuleCode = heatModuleState.getModuleCode(); + heatModuleCode = autoHeatModuleState.getModuleCode(); } } else { // if (futureMap.containsKey(heatModuleCode)) {//校验指定加热模块是否正在执行工艺 @@ -141,12 +148,11 @@ public class CraftsService extends ServiceImpl { // clearCraftContext(heatModuleCode); // } - TrayState trayState = deviceStateService.getDeviceState().getTrayInSolutionModule(); //配置可操作试管 TubeState[] tubeStateArr = trayState.getTubes(); - List needTubeNumArr = Arrays.stream(startCraftsDTO.getTubes()).boxed() .toList(); + List needTubeNumArr = Arrays.stream(startCraftsDTO.getTubes()).boxed().toList(); for (TubeState tubeState : tubeStateArr) { - if(!needTubeNumArr.contains(tubeState.getTubeNum())){ + if (!needTubeNumArr.contains(tubeState.getTubeNum())) { tubeState.setNeedAddSolution(false); } } 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..f967393 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 @@ -3,6 +3,7 @@ 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.common.enums.HeatingType; import com.iflytop.gd.hardware.exception.HardwareException; import com.iflytop.gd.hardware.service.GDDeviceStatusService; import com.iflytop.gd.hardware.type.IO.InputIOMId; @@ -41,12 +42,13 @@ public class TestService { return allSensorDTOList; } - public void reset(){ + public void reset() { deviceStateService.getCommandMutexState().get().reset(); deviceStateService.getDeviceState().reset(); } - public void setTemperature(HeatModuleCode code, Double temperature){ + public void setTemperature(HeatModuleCode code, Double temperature, HeatingType heatingType) { + deviceStateService.getDeviceState().getHeatModuleByCode(code).setHeatingType(heatingType); deviceStateService.getDeviceState().getHeatModuleByCode(code).setTemperature(temperature); } diff --git a/src/main/java/com/iflytop/gd/app/service/api/TrayService.java b/src/main/java/com/iflytop/gd/app/service/api/TrayService.java index 08a0aca..4a48b73 100644 --- a/src/main/java/com/iflytop/gd/app/service/api/TrayService.java +++ b/src/main/java/com/iflytop/gd/app/service/api/TrayService.java @@ -42,8 +42,9 @@ public class TrayService { deviceStateService.getDeviceState().getSolutionModule().setTrayStatus(1); deviceStateService.getDeviceState().getSolutionModule().setIdle(false); return trayState; + }else{ + throw new AppException(ResultCode.SOLUTION_MODULE_OCCUPIED); } - return null; } /** 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 e986d53..66fa550 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 @@ -2,12 +2,15 @@ package com.iflytop.gd.app.service.crafts; import cn.hutool.json.JSONArray; import cn.hutool.json.JSONObject; +import cn.hutool.json.JSONUtil; +import com.iflytop.gd.app.core.CraftsContext; import com.iflytop.gd.app.core.CraftsDebugGenerator; import com.iflytop.gd.app.model.bo.CraftsStep; import com.iflytop.gd.app.model.bo.Point3D; import com.iflytop.gd.app.model.bo.status.device.TrayState; import com.iflytop.gd.app.model.bo.status.device.TubeState; import com.iflytop.gd.app.model.entity.Container; +import com.iflytop.gd.app.model.entity.Crafts; import com.iflytop.gd.app.service.api.ContainerService; import com.iflytop.gd.app.service.api.DevicePositionService; import com.iflytop.gd.app.service.device.DeviceCommandTempUtilService; @@ -68,14 +71,47 @@ public class CraftsStepService { } /** + * 工艺开始执行前 + */ + public void start(CraftsContext craftsContext) throws Exception { + HeatModuleCode heatModuleCode = craftsContext.getHeatModuleCode(); + Crafts craft = craftsContext.getCraft(); + List craftsStepList = JSONUtil.parseArray(craft.getSteps()).toList(CraftsStep.class); + Double targetTemperature = null; + for (CraftsStep craftsStep : craftsStepList) { + if ("startHeating".equals(craftsStep.getMethod())) { + targetTemperature = craftsStep.getParams().getDouble("temperature"); + break; + } + } + if (targetTemperature != null) {//工艺执行前动态调节温度 + Double temperature = deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getTemperature(); + if (temperature > targetTemperature) { + heatModuleService.fanStart(heatModuleCode); + } else { + heatModuleService.heatRodOpen(heatModuleCode, targetTemperature); + } + } + } + + /** + * 工艺执行完毕 + */ + public void finish(CraftsContext craftsContext) throws Exception { + moveToSolutionModule(craftsContext.getHeatModuleCode()); + //蜂鸣器提示 +// otherModuleService.craftsFinishBeepRemind(); + } + + /** * 将托盘从加热区移动至加液区并且添加溶液 */ private boolean addLiquid(HeatModuleCode heatModuleCode, JSONObject params) throws Exception { - if((deviceStateService.getDeviceState().getSolutionModule().getTrayStatus() == 0 ) + if ((deviceStateService.getDeviceState().getSolutionModule().getTrayStatus() == 0) && deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getTrayStatus() == 0) { throw new AppException(ResultCode.CRAFT_NO_TRAY); } - if((deviceStateService.getDeviceState().getSolutionModule().getTrayStatus() == 0 ) + if ((deviceStateService.getDeviceState().getSolutionModule().getTrayStatus() == 0) && deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getTrayStatus() == 1) { moveToSolutionModule(heatModuleCode); } @@ -84,8 +120,8 @@ public class CraftsStepService { TubeState[] tubeArray = trayState.getTubes(); for (TubeState tubeState : tubeArray) { int tubeNum = tubeState.getTubeNum(); - if(tubeNum > 0){ - log.info("工艺{},移动加液机械臂到指定试管",heatModuleCode); + if (tubeNum > 0) { + log.info("工艺{},移动加液机械臂到指定试管", heatModuleCode); solutionModuleService.dualRobotMovePoint(tubeNum);//移动加液机械臂到指定试管 List futuresList = new ArrayList<>(); for (int i = 0; i < addLiquidList.size(); i++) { @@ -98,8 +134,8 @@ public class CraftsStepService { } AcidPumpDeviceCode acidPumpDevice = AcidPumpDeviceCode.valueOf(container.getPumpId());//泵 int scale = container.getScale() == null ? 120 : container.getScale();//系数 - log.info("工艺{},添加溶液",heatModuleCode); - CommandFuture deviceCommandFuture = solutionModuleService.acidPumpMoveBy(acidPumpDevice, volume * ((double) scale /100));//添加溶液 + log.info("工艺{},添加溶液", heatModuleCode); + CommandFuture deviceCommandFuture = solutionModuleService.acidPumpMoveBy(acidPumpDevice, volume * ((double) scale / 100));//添加溶液 futuresList.add(deviceCommandFuture); } CommandUtil.wait(futuresList.toArray(new CommandFuture[0])); @@ -117,10 +153,10 @@ public class CraftsStepService { moveToSolutionModule(heatModuleCode); } Integer second = params.getInt("second"); - log.info("工艺{},开始摇匀",heatModuleCode); + log.info("工艺{},开始摇匀", heatModuleCode); solutionModuleService.shakeStart();//开始摇匀 delay(second); - log.info("工艺{},停止摇匀",heatModuleCode); + log.info("工艺{},停止摇匀", heatModuleCode); solutionModuleService.shakeStop();//停止摇匀 return true; } @@ -132,25 +168,41 @@ public class CraftsStepService { double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //获取加热位抬升托盘位置 double trayLower = devicePositionService.getPosition(DevicePositionCode.trayLower).getDistance(); //获取托盘升降下降距离位置 moveToHeatModule(heatModuleCode); - Double temperature = params.getDouble("temperature"); + + Double targetTemperature = params.getDouble("temperature"); Integer second = params.getInt("second"); - log.info("工艺{},加热中",heatModuleCode); - heatModuleService.heatRodOpen(heatModuleCode, temperature);//开始加热 - deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatingType(HeatingType.thermostatic); - //达到目标温度后才算开始加热 - log.info("工艺{},等待升温",heatModuleCode); - while (deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getTemperature() + 1 < temperature) { - delay(1); + + Double temperature = deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getTemperature(); + if (temperature > targetTemperature) { + log.info("工艺{},开启风扇降温中", heatModuleCode); + heatModuleService.fanStart(heatModuleCode); + deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatingType(HeatingType.cooling); + log.info("工艺{},等待降温", heatModuleCode); + while (deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getTemperature() - 1 > targetTemperature) { + delay(1); + } + heatModuleService.fanClose(heatModuleCode); + heatModuleService.heatRodOpen(heatModuleCode, targetTemperature); + } else { + log.info("工艺{},开启加热棒", heatModuleCode); + heatModuleService.heatRodOpen(heatModuleCode, targetTemperature); + deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatingType(HeatingType.warm_up); + log.info("工艺{},等待升温", heatModuleCode); + while (deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getTemperature() + 1 < targetTemperature) { + delay(1); + } } - log.info("工艺{},恒温中",heatModuleCode); + log.info("工艺{},恒温中", heatModuleCode); deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatingType(HeatingType.constant); - log.info("工艺{},降下托盘",heatModuleCode); - heatModuleService.heaterMotorMove(heatModuleCode, trayLower);//降下托盘 + + log.info("工艺{},温度合适，下降加热模块托盘", heatModuleCode); + heatModuleService.heaterMotorMove(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 delay(second); - log.info("工艺{},停止加热",heatModuleCode); + log.info("工艺{},加热完成", heatModuleCode); heatModuleService.heatRodClose(heatModuleCode);//停止加热 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatingType(HeatingType.finish); - log.info("工艺{},抬升加热位托盘",heatModuleCode); + log.info("工艺{},抬升加热位托盘", heatModuleCode); heatModuleService.heaterMotorMove(heatModuleCode, trayLift);//抬升加热位托盘 return true; } @@ -184,15 +236,6 @@ public class CraftsStepService { } /** - * 工艺执行完毕 - */ - public void finish(HeatModuleCode heatModuleCode) throws Exception { - moveToSolutionModule(heatModuleCode); - //蜂鸣器提示 -// otherModuleService.craftsFinishBeepRemind(); - } - - /** * 将托盘移至加热 */ private void moveToHeatModule(HeatModuleCode heatModuleCode) throws Exception { @@ -213,66 +256,66 @@ public class CraftsStepService { Point3D heatAreaCapClawPointPoint3D = heatModuleService.getHeatAreaCapClawPointPoint3D(heatModuleCode);//获取指定加热模块拍子上方点位 Point3D capStorageCapClawPoint3D = devicePositionService.getPosition(DevicePositionCode.capStorageCapClawPoint).getPoint3D();//获取拍子存放区上方点位; - log.info("工艺{},提升拍子存放区至拍子夹取的高度",heatModuleCode); + TrayState trayState = deviceStateService.getDeviceState().getTrayInSolutionModule(); + log.info("工艺{},提升拍子存放区至拍子夹取的高度", heatModuleCode); capModuleService.capUpBalanceNoWait();//提升拍子存放区至拍子夹取的高度 - log.info("工艺{},将机械臂移动至加液模块上方",heatModuleCode); + log.info("工艺{},将机械臂移动至加液模块上方", heatModuleCode); gantryModuleService.gantryMove(liquidAreaTrayPoint3D); //将机械臂移动至加液模块上方 - log.info("工艺{},将夹爪打开，准备夹取托盘",heatModuleCode); + log.info("工艺{},将夹爪打开，准备夹取托盘", heatModuleCode); gantryModuleService.clawMove(clawTrayPick);//将夹爪打开，准备夹取托盘 - log.info("工艺{},下降z轴,使夹爪落入托盘孔位",heatModuleCode); + log.info("工艺{},下降z轴,使夹爪落入托盘孔位", heatModuleCode); gantryModuleService.gantryZMove(solutionModuleTrayMoveHeight);//下降z轴,使夹爪落入托盘孔位 - log.info("工艺{},将夹爪收紧，夹住托盘",heatModuleCode); + log.info("工艺{},将夹爪收紧，夹住托盘", heatModuleCode); gantryModuleService.clawMove(clawTrayGrip);//将夹爪收紧，夹住托盘 - log.info("工艺{},抬升z轴",heatModuleCode); + log.info("工艺{},抬升z轴", heatModuleCode); + deviceCommandTempUtilService.moveTrayHeatModuleAvoidDownNoWait(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.gantryZMove(0);//抬升z轴 deviceStateService.getDeviceState().getSolutionModule().setTrayStatus(0);//加液模块是否有托盘 deviceStateService.getDeviceState().getTrayStateByHeatModuleCode(heatModuleCode).setInSolutionModule(false); -// deviceCommandTempUtilService.moveTrayHeatModuleAvoidDown(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 - log.info("工艺{},将携带托盘的机械臂移动至4号加热模块上方",heatModuleCode); + log.info("工艺{},将携带托盘的机械臂移动至4号加热模块上方", heatModuleCode); gantryModuleService.gantryMove(heatArea4TrayClawPoint3D);//将携带托盘的机械臂移动至4号加热模块上方 - log.info("工艺{},将携带托盘的机械臂移动至加热模块上方",heatModuleCode); + log.info("工艺{},将携带托盘的机械臂移动至加热模块上方", heatModuleCode); gantryModuleService.gantryMove(heatAreaTrayClawPoint3D);//将携带托盘的机械臂移动至加热模块上方 -// deviceCommandUtilService.heaterMotorMove( heatModuleId, trayLift);//抬升加热位托盘 TODO 结构有问题临时避让 屏蔽 - log.info("工艺{},临时避让完毕，升起",heatModuleCode); - deviceCommandTempUtilService.moveTrayHeatModuleAvoidUpNoWait(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 - log.info("工艺{},下降z轴,使托盘落入加热模块",heatModuleCode); + log.info("工艺{},临时避让完毕，升起", heatModuleCode); + deviceCommandTempUtilService.moveTrayHeatModuleAvoidUpNoWait(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 + log.info("工艺{},下降z轴,使托盘落入加热模块", heatModuleCode); gantryModuleService.gantryZMove(heatModuleTrayMoveHeight);//下降z轴,使托盘落入加热模块 - log.info("工艺{},将夹爪打开，释放托盘",heatModuleCode); + + log.info("工艺{},将夹爪打开，释放托盘", heatModuleCode); gantryModuleService.clawMove(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().getTrayStateByHeatModuleCode(heatModuleCode).setInHeatModule(true); - log.info("工艺{},抬升z轴",heatModuleCode); + log.info("工艺{},抬升z轴", heatModuleCode); gantryModuleService.gantryZMove(0);//抬升z轴 - log.info("工艺{},移动机械臂至拍子存放区上方",heatModuleCode); + log.info("工艺{},移动机械臂至拍子存放区上方", heatModuleCode); gantryModuleService.gantryMove(capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方 - log.info("工艺{},将夹爪打开，准备夹取拍子",heatModuleCode); + deviceCommandTempUtilService.moveTrayHeatModuleAvoidDownNoWait(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 + log.info("工艺{},将夹爪打开，准备夹取拍子", heatModuleCode); gantryModuleService.clawMove(clawCapPick);//将夹爪打开，准备夹取拍子 - log.info("工艺{},下降z轴,使夹爪落入拍子升降模块拍子孔位",heatModuleCode); + log.info("工艺{},下降z轴,使夹爪落入拍子升降模块拍子孔位", heatModuleCode); gantryModuleService.gantryZMove(capModuleCapMoveHeight);//下降z轴,使夹爪落入拍子升降模块拍子孔位 - log.info("工艺{},将夹爪收紧，夹住拍子",heatModuleCode); + log.info("工艺{},将夹爪收紧，夹住拍子", heatModuleCode); gantryModuleService.clawMove(clawCapGrip);//将夹爪收紧，夹住拍子 - log.info("工艺{},抬升z轴",heatModuleCode); + log.info("工艺{},抬升z轴", heatModuleCode); gantryModuleService.gantryZMove(0);//抬升z轴 - log.info("工艺{},将携带拍子的机械臂移动至加热模块拍子上方",heatModuleCode); + log.info("工艺{},将携带拍子的机械臂移动至加热模块拍子上方", heatModuleCode); gantryModuleService.gantryMove(heatAreaCapClawPointPoint3D);//将携带拍子的机械臂移动至加热模块拍子上方 - log.info("工艺{},提升拍子存放区",heatModuleCode); + log.info("工艺{},提升拍子存放区", heatModuleCode); capModuleService.capUpBalanceNoWait(); //提升拍子存放区 - log.info("工艺{},下降z轴,使夹拍子落入加热模块",heatModuleCode); + deviceCommandTempUtilService.moveTrayHeatModuleAvoidUpNoWait(heatModuleCode); + Thread.sleep(4000);//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 + log.info("工艺{},下降z轴,使夹拍子落入加热模块", heatModuleCode); gantryModuleService.gantryZMove(heatModuleCapMoveHeight);//下降z轴,使夹拍子落入加热模块 - log.info("工艺{},将夹爪打开，释放拍子",heatModuleCode); + log.info("工艺{},将夹爪打开，释放拍子", heatModuleCode); gantryModuleService.clawMove(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 - log.info("工艺{},抬升z轴",heatModuleCode); + log.info("工艺{},抬升z轴", heatModuleCode); gantryModuleService.gantryZMove(0);//抬升z轴 -// trayState.setHeatModuleId(heatModuleId); -// trayState.setInHeatModule(true); - log.info("工艺{},下降加热模块托盘",heatModuleCode); - heatModuleService.heaterMotorMove(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 - log.info("工艺{},移动机械臂至拍子存放区上方",heatModuleCode); + log.info("工艺{},移动机械臂至拍子存放区上方", heatModuleCode); gantryModuleService.gantryMove(capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方 - log.info("工艺{},释放加液区",heatModuleCode); + log.info("工艺{},释放加液区", heatModuleCode); solutionModuleService.releaseSolutionModule();//释放加液区 } @@ -298,70 +341,69 @@ public class CraftsStepService { Point3D capStorageCapClawPoint3D = devicePositionService.getPosition(DevicePositionCode.capStorageCapClawPoint).getPoint3D();//获取拍子存放区上方点位; -// TrayState trayState = deviceStateService.getTrayInSolutionModule(); - log.info("工艺{},申请使用加液区并等待",heatModuleCode); + TrayState trayState = deviceStateService.getDeviceState().getTrayStateByHeatModuleCode(heatModuleCode); + log.info("工艺{},申请使用加液区并等待", heatModuleCode); solutionModuleService.requestSolutionModule();//申请使用加液区并等待 - log.info("工艺{},提升拍子存放区至拍子夹取的高度",heatModuleCode); + log.info("工艺{},提升拍子存放区至拍子夹取的高度", heatModuleCode); capModuleService.capUpBalanceNoWait(); //提升拍子存放区至拍子夹取的高度 - log.info("工艺{},将机械臂移动至加热模块拍子上方",heatModuleCode); + log.info("工艺{},将机械臂移动至加热模块拍子上方", heatModuleCode); gantryModuleService.gantryMove(heatAreaCapClawPointPoint3D);//将机械臂移动至加热模块拍子上方 - log.info("工艺{},抬升指定加热位托盘",heatModuleCode); + deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(1);//将加热模块托盘状态改为抬起 + log.info("工艺{},抬升指定加热位托盘", heatModuleCode); heatModuleService.heaterMotorMove(heatModuleCode, trayLift);//抬升指定加热位托盘 - log.info("工艺{},将夹爪打开，准备夹取拍子",heatModuleCode); + log.info("工艺{},将夹爪打开，准备夹取拍子", heatModuleCode); gantryModuleService.clawMove(clawCapPick);//将夹爪打开，准备夹取拍子 - log.info("工艺{},下降z轴,使夹爪落入加热模块拍子孔位",heatModuleCode); + log.info("工艺{},下降z轴,使夹爪落入加热模块拍子孔位", heatModuleCode); gantryModuleService.gantryZMove(heatModuleCapMoveHeight);//下降z轴,使夹爪落入加热模块拍子孔位 - log.info("工艺{},将夹爪收紧，夹住拍子",heatModuleCode); + log.info("工艺{},将夹爪收紧，夹住拍子", heatModuleCode); gantryModuleService.clawMove(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 - log.info("工艺{},拍子存放模块下降1个拍子位置",heatModuleCode); + log.info("工艺{},拍子存放模块下降1个拍子位置", heatModuleCode); capModuleService.capMotorMoveByNumNoWait(-1);//拍子存放模块下降1个拍子位置 - log.info("工艺{},抬升z轴",heatModuleCode); - gantryModuleService.gantryZMove(0); Thread.sleep(2000);//抬升z轴 - log.info("工艺{},将携带拍子的机械臂移动至存放区上方",heatModuleCode); + deviceCommandTempUtilService.moveTrayHeatModuleAvoidDownNoWait(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 + log.info("工艺{},抬升z轴", heatModuleCode); + gantryModuleService.gantryZMove(0); + Thread.sleep(4000);//抬升z轴 + log.info("工艺{},将携带拍子的机械臂移动至存放区上方", heatModuleCode); gantryModuleService.gantryMove(capStorageCapClawPoint3D);//将携带拍子的机械臂移动至存放区上方 - log.info("工艺{},下降z轴,使夹拍子落入存放区",heatModuleCode); + deviceCommandTempUtilService.moveTrayHeatModuleAvoidUpNoWait(null);//TODO 临时避 恢复抬起状态 + log.info("工艺{},下降z轴,使夹拍子落入存放区", heatModuleCode); gantryModuleService.gantryZMove(capModuleCapMoveHeight);//下降z轴,使夹拍子落入存放区 - log.info("工艺{},将夹爪打开，释放夹取的拍子",heatModuleCode); + log.info("工艺{},将夹爪打开，释放夹取的拍子", heatModuleCode); gantryModuleService.clawMove(clawCapPick);//将夹爪打开，释放夹取的拍子 - log.info("工艺{},抬升z轴",heatModuleCode); + log.info("工艺{},抬升z轴", heatModuleCode); gantryModuleService.gantryZMove(0);//抬升z轴 - - log.info("工艺{},将机械臂移动至加热模块上方",heatModuleCode); + log.info("工艺{},将机械臂移动至加热模块上方", heatModuleCode); gantryModuleService.gantryMove(heatAreaTrayClawPoint3D);//将机械臂移动至加热模块上方 - deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(1);//将加热模块托盘状态改为抬起 - log.info("工艺{},将夹爪打开，准备夹取托盘",heatModuleCode); + log.info("工艺{},将夹爪打开，准备夹取托盘", heatModuleCode); gantryModuleService.clawMove(clawTrayPick);//将夹爪打开，准备夹取托盘 - log.info("工艺{},下降z轴,使夹爪落入托盘孔位",heatModuleCode); + log.info("工艺{},下降z轴,使夹爪落入托盘孔位", heatModuleCode); gantryModuleService.gantryZMove(heatModuleTrayMoveHeight);//下降z轴,使夹爪落入托盘孔位 - log.info("工艺{},将夹爪收紧，夹住托盘",heatModuleCode); + log.info("工艺{},将夹爪收紧，夹住托盘", heatModuleCode); gantryModuleService.clawMove(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().getTrayStateByHeatModuleCode(heatModuleCode).setInHeatModule(false); -// trayState.setInHeatModule(false);//托盘是否在加热模块中 - log.info("工艺{},临时避让下降",heatModuleCode); + trayState.setInHeatModule(false); + log.info("工艺{},临时避让下降", heatModuleCode); deviceCommandTempUtilService.moveTrayHeatModuleAvoidDownNoWait(heatModuleCode);//TODO 临时避让下降 - log.info("工艺{},抬升z轴",heatModuleCode); - gantryModuleService.gantryZMove(0);Thread.sleep(2500);//抬升z轴 -// deviceCommandUtilService.heaterMotorMove( heatModuleId, trayLower);//下降加热模块托盘 -// deviceStateService.setHeatModuleStateTrayUp(heatModuleId, 0);//加热模块托盘升降状态 - log.info("工艺{},将携带托盘的机械臂移动至4号加热模块上方",heatModuleCode); + log.info("工艺{},抬升z轴", heatModuleCode); + gantryModuleService.gantryZMove(0); + Thread.sleep(2500);//抬升z轴 + log.info("工艺{},将携带托盘的机械臂移动至4号加热模块上方", heatModuleCode); gantryModuleService.gantryMove(heatArea4TrayClawPoint3D);//将携带托盘的机械臂移动至4号加热模块上方 - log.info("工艺{},将携带托盘的机械臂移动至加液模块上方",heatModuleCode); + log.info("工艺{},将携带托盘的机械臂移动至加液模块上方", heatModuleCode); gantryModuleService.gantryMove(liquidAreaTrayPoint3D); //将携带托盘的机械臂移动至加液模块上方 - log.info("工艺{},临时避 恢复抬起状态",heatModuleCode); + log.info("工艺{},临时避 恢复抬起状态", heatModuleCode); deviceCommandTempUtilService.moveTrayHeatModuleAvoidUp(null, heatModuleCode);//TODO 临时避 恢复抬起状态 - log.info("工艺{},下降z轴,使托盘落入加液模块",heatModuleCode); + log.info("工艺{},下降z轴,使托盘落入加液模块", heatModuleCode); 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 - deviceStateService.getDeviceState().getTrayStateByHeatModuleCode(heatModuleCode).setInSolutionModule(true); - log.info("工艺{},将夹爪打开，释放托盘",heatModuleCode); + trayState.setInSolutionModule(true); + log.info("工艺{},将夹爪打开，释放托盘", heatModuleCode); gantryModuleService.clawMove(clawTrayPick);//将夹爪打开，释放托盘 - log.info("工艺{},抬升z轴",heatModuleCode); + log.info("工艺{},抬升z轴", heatModuleCode); gantryModuleService.gantryZMove(0);//抬升z轴 - log.info("工艺{},移动机械臂至拍子存放区上方",heatModuleCode); + log.info("工艺{},移动机械臂至拍子存放区上方", heatModuleCode); gantryModuleService.gantryMove(capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方 } } diff --git a/src/main/java/com/iflytop/gd/app/service/device/DeviceInitService.java b/src/main/java/com/iflytop/gd/app/service/device/DeviceInitService.java index f04807e..7c13e2f 100644 --- a/src/main/java/com/iflytop/gd/app/service/device/DeviceInitService.java +++ b/src/main/java/com/iflytop/gd/app/service/device/DeviceInitService.java @@ -1,5 +1,6 @@ package com.iflytop.gd.app.service.device; +import ch.qos.logback.core.joran.conditional.ThenAction; import cn.hutool.json.JSONUtil; import com.iflytop.gd.app.model.bo.DeviceInitializationData; import com.iflytop.gd.app.model.bo.status.device.DeviceState; @@ -59,43 +60,46 @@ public class DeviceInitService { private final ObjectProvider heatModuleStateProvider; private final ObjectProvider solutionContainerStateProvider; private final AppEventBusService eventBus; + private boolean isLink = false; @PostConstruct public void init() { eventBus.regListener(this::onAppEvent); - } - - private void onAppEvent(AppEvent event) { - if (event instanceof A8kCanBusOnConnectEvent) { - new Thread(() -> { - try { - log.info("初始化开始"); - CompletableFuture.runAsync(() -> { - try { - tricolorLightDriver.open(MId.TriColorLight, TricolorLightDriver.Color.BLUE); - } catch (HardwareException e) { - log.error("设备初始化灯光失败，Color.BLUE", e); - } - }); - initDeviceState(); - initDeviceSetData(); - initOvertime(); - initEnable(); + new Thread(() -> { + try { + log.info("初始化开始"); + CompletableFuture.runAsync(() -> { try { - tricolorLightDriver.open(MId.TriColorLight, TricolorLightDriver.Color.GREEN); + tricolorLightDriver.open(MId.TriColorLight, TricolorLightDriver.Color.BLUE); } catch (HardwareException e) { - log.error("设备初始化灯光失败，Color.GREEN", e); + log.error("设备初始化灯光失败，Color.BLUE", e); } - deviceStateService.getDeviceState().setInitComplete(true); - log.info("初始化完毕"); - } catch (Exception e) { - try { - tricolorLightDriver.open(MId.TriColorLight, TricolorLightDriver.Color.RED); - } catch (Exception ignored) { - } - log.error("设备初始化失败", e); + }); + initDeviceState(); + initDeviceSetData(); + initOvertime(); + initEnable(); + try { + tricolorLightDriver.open(MId.TriColorLight, TricolorLightDriver.Color.GREEN); + } catch (HardwareException e) { + log.error("设备初始化灯光失败，Color.GREEN", e); } - }).start(); + deviceStateService.getDeviceState().setInitComplete(true); + log.info("初始化完毕"); + } catch (Exception e) { + try { + tricolorLightDriver.open(MId.TriColorLight, TricolorLightDriver.Color.RED); + } catch (Exception ignored) { + } + log.error("设备初始化失败", e); + } + }).start(); + + } + + private void onAppEvent(AppEvent event) { + if (event instanceof A8kCanBusOnConnectEvent) { + isLink = true; } } @@ -146,6 +150,9 @@ public class DeviceInitService { } public void initDeviceSetData() throws Exception { + while (!isLink){ + Thread.sleep(100); + } if (deviceStateService.getDeviceState().isVirtual() || deviceStateService.getDeviceState().isInitComplete()) { return; } diff --git a/src/main/java/com/iflytop/gd/app/service/device/module/HeatModuleService.java b/src/main/java/com/iflytop/gd/app/service/device/module/HeatModuleService.java index 020ee55..6c8a8f8 100644 --- a/src/main/java/com/iflytop/gd/app/service/device/module/HeatModuleService.java +++ b/src/main/java/com/iflytop/gd/app/service/device/module/HeatModuleService.java @@ -1,7 +1,10 @@ package com.iflytop.gd.app.service.device.module; +import cn.hutool.json.JSONUtil; +import com.iflytop.gd.app.model.bo.CraftsStep; import com.iflytop.gd.app.model.bo.Point3D; import com.iflytop.gd.app.model.bo.status.device.HeatModuleState; +import com.iflytop.gd.app.model.entity.Crafts; import com.iflytop.gd.app.model.entity.DevicePosition; import com.iflytop.gd.app.service.api.DevicePositionService; import com.iflytop.gd.app.service.device.DeviceCommandService; @@ -19,6 +22,8 @@ import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; import org.springframework.stereotype.Service; +import java.util.List; + /** * 加热模块 */ @@ -128,6 +133,13 @@ public class HeatModuleService { /** * 开启风扇 */ + public void fanStart(HeatModuleCode heatModuleId) throws Exception { + fanStart(null, null, heatModuleId); + } + + /** + * 开启风扇 + */ public void fanStart(String commandId, String command, HeatModuleCode heatModuleId) throws Exception { DeviceCommandBundle deviceCommand; switch (heatModuleId) { @@ -146,6 +158,13 @@ public class HeatModuleService { /** * 关闭风扇 */ + public void fanClose(HeatModuleCode heatModuleId) throws Exception { + fanClose(null, null, heatModuleId); + } + + /** + * 关闭风扇 + */ public void fanClose(String commandId, String command, HeatModuleCode heatModuleId) throws Exception { DeviceCommandBundle deviceCommand; switch (heatModuleId) { @@ -211,13 +230,45 @@ public class HeatModuleService { /** * 获取一个空闲加热区 */ - public HeatModuleState getIdleHeatModule() { - for (HeatModuleState heatModuleState : deviceStateService.getDeviceState().getHeatModule()) { - if(heatModuleState.getTrayStatus() == 0 && !heatModuleState.isCapExist()){ - return heatModuleState; + public HeatModuleState getIdleHeatModule(Crafts craft) { + List craftsStepList = JSONUtil.parseArray(craft.getSteps()).toList(CraftsStep.class); + Double targetTemperature = null; + for (CraftsStep craftsStep : craftsStepList) { + if ("startHeating".equals(craftsStep.getMethod())) { + targetTemperature = craftsStep.getParams().getDouble("temperature"); + break; + } + } + if (targetTemperature != null) { + return getHeatModuleState(targetTemperature); + } else { + for (HeatModuleState heatModuleState : deviceStateService.getDeviceState().getHeatModule()) { + if (heatModuleState.getTrayStatus() == 0 && !heatModuleState.isCapExist()) { + return heatModuleState; + } } } return null; } + private HeatModuleState getHeatModuleState(Double targetTemperature) { + HeatModuleState closestHeatModule = null; + double minDifference = Double.MAX_VALUE; // 初始化最小差值为最大值 + // 遍历所有 HeatModuleState，找出当前温度与目标温度最接近的一个 + for (HeatModuleState heatModuleState : deviceStateService.getDeviceState().getHeatModule()) { + if (heatModuleState.getTrayStatus() == 0 && !heatModuleState.isCapExist()) { + Double currentTemperature = heatModuleState.getTemperature(); + if (currentTemperature != null) { + double difference = Math.abs(currentTemperature - targetTemperature); // 计算差值的绝对值 + if (difference < minDifference) { + minDifference = difference; + closestHeatModule = heatModuleState; + } + } + } + } + return closestHeatModule; + } + + } diff --git a/src/main/java/com/iflytop/gd/app/service/scheduled/FetchTemperatureScheduledTask.java b/src/main/java/com/iflytop/gd/app/service/scheduled/FetchTemperatureScheduledTask.java index b3b632c..a02429f 100644 --- a/src/main/java/com/iflytop/gd/app/service/scheduled/FetchTemperatureScheduledTask.java +++ b/src/main/java/com/iflytop/gd/app/service/scheduled/FetchTemperatureScheduledTask.java @@ -3,6 +3,7 @@ package com.iflytop.gd.app.service.scheduled; import com.iflytop.gd.app.model.bo.status.device.HeatModuleState; import com.iflytop.gd.app.service.device.DeviceStateService; import com.iflytop.gd.common.enums.HeatModuleCode; +import com.iflytop.gd.common.enums.HeatingType; import com.iflytop.gd.hardware.service.GDDeviceStatusService; import com.iflytop.gd.hardware.type.driver.HeaterRodSlavedId; import lombok.RequiredArgsConstructor; @@ -44,8 +45,8 @@ public class FetchTemperatureScheduledTask { } else {//虚拟模式随便写个值 List heatModuleStateList = deviceStateService.getDeviceState().getHeatModule(); for (HeatModuleState heatModuleState : heatModuleStateList) { - if (heatModuleState.isHeating()) { - heatModuleState.setTemperature(heatModuleState.getTargetTemperature()); + if (heatModuleState.getHeatingType() != HeatingType.stop) { + heatModuleState.setTemperature(heatModuleState.getTemperature()); } else { heatModuleState.setTemperature(26.0); } diff --git a/src/main/java/com/iflytop/gd/app/service/scheduled/HeatCountdownScheduledTask.java b/src/main/java/com/iflytop/gd/app/service/scheduled/HeatCountdownScheduledTask.java index 079f665..8ce233b 100644 --- a/src/main/java/com/iflytop/gd/app/service/scheduled/HeatCountdownScheduledTask.java +++ b/src/main/java/com/iflytop/gd/app/service/scheduled/HeatCountdownScheduledTask.java @@ -2,15 +2,12 @@ package com.iflytop.gd.app.service.scheduled; import com.iflytop.gd.app.model.bo.status.device.HeatModuleState; import com.iflytop.gd.app.model.bo.status.device.TrayState; -import com.iflytop.gd.app.model.vo.HeatCountdownVO; import com.iflytop.gd.app.service.api.DevicePositionService; import com.iflytop.gd.app.service.device.DeviceStateService; import com.iflytop.gd.app.service.device.module.HeatModuleService; import com.iflytop.gd.app.ws.server.WebSocketSender; import com.iflytop.gd.common.enums.HeatingType; import com.iflytop.gd.common.enums.data.DevicePositionCode; -import com.iflytop.gd.common.utils.LocalDateTimeUtil; -import jakarta.annotation.PostConstruct; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; import org.springframework.scheduling.annotation.Scheduled; @@ -18,8 +15,6 @@ import org.springframework.stereotype.Service; import java.time.Duration; import java.time.LocalDateTime; -import java.util.ArrayList; -import java.util.List; /** * 加热时间到自动抬起 diff --git a/src/main/java/com/iflytop/gd/common/enums/HeatingType.java b/src/main/java/com/iflytop/gd/common/enums/HeatingType.java index e4b88bc..f11a298 100644 --- a/src/main/java/com/iflytop/gd/common/enums/HeatingType.java +++ b/src/main/java/com/iflytop/gd/common/enums/HeatingType.java @@ -13,6 +13,10 @@ public enum HeatingType { */ warm_up, /** + * 降温中 + */ + cooling, + /** * 加热中 */ thermostatic,