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graphite-digester-service
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feat:完成工艺拍照

master
白凤吉 2 months ago
parent
b4ab15d5df
commit
f2311b8196
1 changed files with 77 additions and 11 deletions
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  1. 88
      src/main/java/com/iflytop/gd/app/service/crafts/CraftsStepService.java

88
src/main/java/com/iflytop/gd/app/service/crafts/CraftsStepService.java
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@ -4,35 +4,51 @@ 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.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.entity.Container;
import com.iflytop.gd.app.model.entity.Crafts;
import com.iflytop.gd.app.model.entity.Photos;
import com.iflytop.gd.app.service.api.ContainerService;
import com.iflytop.gd.app.service.api.DevicePositionService;
import com.iflytop.gd.app.service.api.PhotosService;
import com.iflytop.gd.app.service.device.DeviceCommandTempUtilService;
import com.iflytop.gd.app.service.device.DeviceStateService;
import com.iflytop.gd.app.service.device.module.*;
import com.iflytop.gd.app.service.device.module.CapModuleService;
import com.iflytop.gd.app.service.device.module.GantryModuleService;
import com.iflytop.gd.app.service.device.module.HeatModuleService;
import com.iflytop.gd.app.service.device.module.SolutionModuleService;
import com.iflytop.gd.app.ws.server.WebSocketSender;
import com.iflytop.gd.common.command.CommandFuture;
import com.iflytop.gd.common.enums.AcidPumpDeviceCode;
import com.iflytop.gd.common.enums.HeatModuleCode;
import com.iflytop.gd.common.enums.HeatingType;
import com.iflytop.gd.common.enums.PhotoModeType;
import com.iflytop.gd.common.enums.data.DevicePositionCode;
import com.iflytop.gd.common.exception.AppException;
import com.iflytop.gd.common.result.ResultCode;
import com.iflytop.gd.common.utils.CommandUtil;
import com.iflytop.gd.hardware.drivers.CameraBaslerDriver;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import java.io.IOException;
import java.nio.file.Files;
import java.nio.file.Path;
import java.nio.file.Paths;
import java.nio.file.StandardCopyOption;
import java.time.LocalDate;
import java.time.LocalDateTime;
import java.time.format.DateTimeFormatter;
import java.util.ArrayList;
import java.util.List;
import java.util.stream.Stream;
/**
* 工艺步骤执行服务
@ -51,7 +67,13 @@ public class CraftsStepService {
private final DevicePositionService devicePositionService;
private final DeviceStateService deviceStateService;
private final DeviceCommandTempUtilService deviceCommandTempUtilService;
private final OtherModuleService otherModuleService;
private final CameraBaslerDriver cameraBaslerDriver;
private final PhotosService photosService;
@Value("${photo.url}")
private String url;
@Value("${photo.path}")
private String path;
/**
* 执行单个工艺步骤
@ -224,7 +246,7 @@ public class CraftsStepService {
heatModuleService.fanClose(heatModuleCode);//工艺加热前，尝试关闭风扇
heatModuleState.setFanOpen(false);
}
if(heatModuleState.getTrayUp() == 0){
if (heatModuleState.getTrayUp() == 0) {
log.info("工艺{},温度不达标，抬起托盘等待升温", heatModuleCode);
heatModuleService.heaterMotorMove(heatModuleCode, trayLift);//抬升加热位托盘
heatModuleState.setTrayUp(1);//加热模块托盘升降状态
@ -293,12 +315,56 @@ public class CraftsStepService {
if (deviceStateService.getDeviceState().getSolutionModule().getTrayStatus() == 0) {
moveToSolutionModule(heatModuleCode);
}
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "开启补光灯", 100.0));
Path directoryPath = Paths.get(path + "/temp");
try (Stream<Path> paths = Files.list(directoryPath)) {
paths.forEach(file -> {
try {
Files.delete(file);
} catch (IOException e) {
log.error("工艺删除文件时发生错误", e);
}
});
} catch (IOException e) {
log.error("工艺读取目录时发生错误", e);
}
solutionModuleService.fillLightOpen(100.0);
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "拍照", null));
solutionModuleService.takePhoto();//拍照
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "关闭补光灯", null));
solutionModuleService.fillLightClose();//关闭补光灯
String fileName = System.currentTimeMillis() + ".png";
String tempFilePath = "/temp/" + fileName;
String filePath = path + tempFilePath;
try {
cameraBaslerDriver.enable();
cameraBaslerDriver.saveColorImg(filePath);
} finally {
cameraBaslerDriver.disable();
solutionModuleService.fillLightClose();
}
String todayDate = LocalDate.now().format(DateTimeFormatter.ofPattern("yyyyMMdd"));
String tempPath = "/temp/" + fileName;
String imagePath = "/data/" + todayDate + "/" + fileName;
try {
Path sourcePath = Paths.get(path + tempPath);
Path targetPath = Paths.get(path + imagePath);
Path targetDirectory = targetPath.getParent();
if (!Files.exists(targetDirectory)) {
Files.createDirectories(targetDirectory);
}
Files.move(sourcePath, targetPath, StandardCopyOption.REPLACE_EXISTING);
log.info("工艺照片文件已成功移动!");
} catch (Exception e) {
log.error("工艺照片文件已成功移动失败 ", e);
throw new AppException(ResultCode.SYSTEM_ERROR);
}
TrayState trayState = deviceStateService.getDeviceState().getTrayStateByHeatModuleCode(heatModuleCode);
CraftsState crafts = trayState.getCrafts();
Photos photos = new Photos();
photos.setMode(PhotoModeType.crafts);
photos.setOreId(crafts.getCraft().getId());
photos.setCraftsId(crafts.getCraft().getId());
photos.setOreName(crafts.getCraft().getName());
photos.setCraftsName(crafts.getCraft().getName());
photos.setImagePath(imagePath);
photosService.save(photos);
return true;
}
@ -477,7 +543,7 @@ public class CraftsStepService {
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);
gantryModuleService.gantryZMoveZero();//抬升z轴
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
@ -492,7 +558,7 @@ public class CraftsStepService {
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);
gantryModuleService.gantryZMove(0);//抬升z轴
gantryModuleService.gantryZMoveZero();//抬升z轴
log.info("工艺{},移动机械臂至拍子存放区上方", heatModuleCode);
gantryModuleService.gantryXYMove(capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方
}

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