diff --git a/src/main/java/com/iflytop/sgs/app/service/crafts/CraftsStepService.java b/src/main/java/com/iflytop/sgs/app/service/crafts/CraftsStepService.java index f3113ef..eaf2efc 100644 --- a/src/main/java/com/iflytop/sgs/app/service/crafts/CraftsStepService.java +++ b/src/main/java/com/iflytop/sgs/app/service/crafts/CraftsStepService.java @@ -69,11 +69,11 @@ public class CraftsStepService { } return switch (method) { case "preHeat" -> preHeat(heatModuleCode, params, craftMonitor); - case "addLiquid" -> addLiquid(heatModuleCode, params, craftMonitor); + //case "addLiquid" -> addLiquid(heatModuleCode, params, craftMonitor); case "addThin" -> addThin(heatModuleCode, params, craftMonitor); case "addThick" -> addThick(heatModuleCode, params, craftMonitor); case "heat" -> heat(heatModuleCode, params, craftMonitor); - case "reduceLiquid" -> reduceLiquid(heatModuleCode, params, craftMonitor); + //case "reduceLiquid" -> reduceLiquid(heatModuleCode, params, craftMonitor); case "clean" -> clean(heatModuleCode, params, craftMonitor); case "dry" -> dry(heatModuleCode, params, craftMonitor); case "anneal" -> anneal(heatModuleCode, params, craftMonitor); @@ -281,9 +281,8 @@ public class CraftsStepService { Point3D heatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(heatModuleCode);//获取目标加热模块托盘夹取点 Double drainDistance = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.drain_distance);//排空距离 Double preFillDistance = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.pre_fill_distance);//预充距离 - Double preFillPosition = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownPreFillPositon).getPositon(); - Solutions solutions=solutionsService.getByCode(SolutionCode.thin.name());//获取溶液 - Container container=containerService.getBySolutionsId(solutions.getId());//获取容器 + Solutions solutions = solutionsService.getByCode(SolutionCode.thin.name());//获取溶液 + Container container = containerService.getBySolutionsId(solutions.getId());//获取容器 Double volume = params.getDouble("volume");//量 JSONArray jsonArray = params.getJSONArray("columns");//列数 Integer channel = container.getChannel();//获取阀门通道 @@ -299,31 +298,12 @@ public class CraftsStepService { log.info("工艺{},申请转运模组并等待", heatModuleCode); transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_liquid);//申请转运模组并等待 - /*预充开始*/ - log.info("工艺{},预充开始", heatModuleCode); - solutionModuleService.solutionMotorMoveZero();//加液机械臂上升 - transferModuleService.transferXMove(heatArea1TrayClawPoint.getX());//转运模块移动至加热位1 - solutionModuleService.solutionMotorMove(liquidAreaPreFillPoint);//加液机械臂下降至至预充点位 - log.info("工艺{},加液机械臂上升", heatModuleCode); - solutionModuleService.solutionMotorMoveZero();//加液机械臂上升 - log.info("工艺{},电磁阀对应通道打开", heatModuleCode); - solutionModuleService.liquidValveSwitch(SolutionCode.waste);//电磁阀对应通道打开 - log.info("工艺{},加液机械臂下降至预充位置", heatModuleCode); - solutionModuleService.solutionMotorMove(preFillPosition);//加液机械臂下降至预充位置 - log.info("工艺{},排空", heatModuleCode); - solutionModuleService.liquidPumpMove(-drainDistance);//排空 - log.info("工艺{},电磁阀对应通道打开", heatModuleCode); - solutionModuleService.liquidValveSwitchByChannel(channel);//电磁阀对应通道打开 - log.info("工艺{},预充", heatModuleCode); - solutionModuleService.liquidPumpMove(preFillDistance);//预充 - log.info("工艺{},加液机械臂上升", heatModuleCode); - solutionModuleService.solutionMotorMoveZero();//加液机械臂上升 - /*预充结束*/ /*移动至加液区开始*/ boolean feedTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取上料区传感器状态 - //Assert.isTrue(feedTrayExist, () -> new AppException(ResultCode.FEED_AREA_NO_TRAY)); - log.info("工艺{},上料区存在托盘", heatModuleCode); + Assert.isTrue(feedTrayExist, () -> new AppException(ResultCode.FEED_AREA_NO_TRAY)); + log.info("工艺{},加液机械臂上升", heatModuleCode); + solutionModuleService.solutionMotorMoveZero();//加液机械臂上升 log.info("工艺{},机械臂移动至上料区", heatModuleCode); webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "机械臂移动至上料区", feedAreaTrayPoint3D)); log.info("工艺{},将X轴移动至上料区托盘夹取点 + 进出卡槽移动距离", heatModuleCode); @@ -342,10 +322,29 @@ public class CraftsStepService { deviceStateService.getDeviceState().getSolutionModule().setPumping(true);//正在加液 deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setInSolutionPositon(true);//托盘状态 boolean clawTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.CLAW_TRAY_EXIST);//获取传感器状态 - //Assert.isTrue(clawTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//加液区无托盘 + Assert.isTrue(clawTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//加液区无托盘 /*移动至加液区结束*/ + /*预充开始*/ + feedTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取传感器状态 + Assert.isTrue(!feedTrayExist, () -> new AppException(ResultCode.FEED_AREA_EXIST_TRAY));//上料区有托盘 + log.info("工艺{},预充开始", heatModuleCode); + transferModuleService.transferXMove(heatArea1TrayClawPoint.getX());//转运模块移动至加热位1 + log.info("工艺{},加液机械臂下降至预充位置", heatModuleCode); + solutionModuleService.solutionMotorMove(liquidAreaPreFillPoint);//加液机械臂下降至至预充点位 + log.info("工艺{},电磁阀对应通道打开", heatModuleCode); + solutionModuleService.liquidValveSwitch(SolutionCode.waste);//电磁阀对应通道打开 + log.info("工艺{},排空", heatModuleCode); + solutionModuleService.liquidPumpMove(-drainDistance);//排空 + log.info("工艺{},电磁阀对应通道打开", heatModuleCode); + solutionModuleService.liquidValveSwitchByChannel(channel);//电磁阀对应通道打开 + log.info("工艺{},预充", heatModuleCode); + solutionModuleService.liquidPumpMove(preFillDistance);//预充 + log.info("工艺{},加液机械臂上升", heatModuleCode); + solutionModuleService.solutionMotorMoveZero();//加液机械臂上升 + /*预充结束*/ + /*开始加液*/ List columns = new ArrayList<>(); if (jsonArray != null) { @@ -432,15 +431,15 @@ public class CraftsStepService { Point3D heatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(heatModuleCode);//获取目标加热模块托盘夹取点 Double drainDistance = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.drain_distance);//排空距离 Double preFillDistance = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.pre_fill_distance);//预充距离 - Double preFillPosition = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownPreFillPositon).getPositon(); - Solutions solutions=solutionsService.getByCode(SolutionCode.thick.name());//获取溶液 - Container container=containerService.getBySolutionsId(solutions.getId());//获取容器 + Solutions solutions = solutionsService.getByCode(SolutionCode.thick.name());//获取溶液 + Container container = containerService.getBySolutionsId(solutions.getId());//获取容器 Double volume = params.getDouble("volume");//量 JSONArray jsonArray = params.getJSONArray("columns");//列数 Integer channel = container.getChannel();//获取阀门通道 Double trayTubeHorizontalSpacingDistance = devicePositionService.getPosition(DevicePositionCode.trayTubeHorizontalSpacingDistance).getDistance(); //托盘试管水平间距 double scale = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.valueOf(solutions.getCode()));//获取转换比 Double solutionModuleMotorDownInTubeAddPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeAddPositon).getPositon(); //加液模块电机下降进入试管加液位置 + Double solutionModuleMotorDownInTubeExtPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeExtPositon).getPositon(); //加液模块电机下降进入试管加液位置 double addLiquidDistance = volume * scale; Double reduceDistance = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.reduce_distance);//抽液距离 Point3D heatArea1TrayClawPoint = devicePositionService.getPosition(DevicePositionCode.heatArea1TrayClawPoint).getPoint3D(); @@ -450,30 +449,10 @@ public class CraftsStepService { log.info("工艺{},申请转运模组并等待", heatModuleCode); transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_liquid);//申请转运模组并等待 - /*预充开始*/ - log.info("工艺{},预充开始", heatModuleCode); - solutionModuleService.solutionMotorMoveZero();//加液机械臂上升 - transferModuleService.transferXMove(heatArea1TrayClawPoint.getX());//转运模块移动至加热位1 - solutionModuleService.solutionMotorMove(liquidAreaPreFillPoint);//加液机械臂下降至至预充点位 - log.info("工艺{},加液机械臂上升", heatModuleCode); - solutionModuleService.solutionMotorMoveZero();//加液机械臂上升 - log.info("工艺{},电磁阀对应通道打开", heatModuleCode); - solutionModuleService.liquidValveSwitch(SolutionCode.waste);//电磁阀对应通道打开 - log.info("工艺{},加液机械臂下降至预充位置", heatModuleCode); - solutionModuleService.solutionMotorMove(preFillPosition);//加液机械臂下降至预充位置 - log.info("工艺{},排空", heatModuleCode); - solutionModuleService.liquidPumpMove(-drainDistance);//排空 - log.info("工艺{},电磁阀对应通道打开", heatModuleCode); - solutionModuleService.liquidValveSwitchByChannel(channel);//电磁阀对应通道打开 - log.info("工艺{},预充", heatModuleCode); - solutionModuleService.liquidPumpMove(preFillDistance);//预充 - log.info("工艺{},加液机械臂上升", heatModuleCode); - solutionModuleService.solutionMotorMoveZero();//加液机械臂上升 - /*预充结束*/ /*移动至加液区*/ boolean heatTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(heatModuleCode);//获取加热区试管架 - //Assert.isTrue(heatTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//目标加热区无托盘 + Assert.isTrue(heatTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//目标加热区无托盘 log.info("工艺{},加热区存在托盘", heatModuleCode); log.info("工艺{},机械臂移动至加热区", heatModuleCode); webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "机械臂移动至加热区", heatModuleCode.name())); @@ -492,12 +471,13 @@ public class CraftsStepService { transferModuleService.transferMove(liquidAreaTrayPoint3D);//移动至加液时托盘位置点 deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setInSolutionPositon(true);//托盘状态 boolean clawTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.CLAW_TRAY_EXIST);//获取传感器状态 - //Assert.isTrue(clawTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//加液区无托盘 + Assert.isTrue(clawTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//加液区无托盘 /*移动至加液区结束*/ /*开始抽液*/ log.info("工艺{},开始抽液", heatModuleCode); + solutionModuleService.liquidValveSwitch(SolutionCode.waste);//电磁阀转换到废液 List reduceColumns = new ArrayList<>(); TubeState[] tubes = deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).getTubes(); for (TubeState tube : tubes) { @@ -512,7 +492,7 @@ public class CraftsStepService { log.info("工艺{},机械臂移动到试管位置{}", heatModuleCode, i); transferModuleService.transferXMove(liquidAreaTrayPoint3D.getX() + distance);//机械臂移动到试管位置 log.info("工艺{},加液机械臂下降", heatModuleCode); - solutionModuleService.solutionMotorMove(solutionModuleMotorDownInTubeAddPositon);//加液机械臂下降 + solutionModuleService.solutionMotorMove(solutionModuleMotorDownInTubeExtPositon);//加液机械臂下降 webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "抽取溶液", addLiquidDistance)); log.info("工艺{},加液", heatModuleCode); solutionModuleService.liquidPumpMove(-reduceDistance);//加液 position @@ -523,9 +503,30 @@ public class CraftsStepService { /*抽液结束*/ + + /*预充开始*/ + boolean feedTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取传感器状态 + Assert.isTrue(!feedTrayExist, () -> new AppException(ResultCode.FEED_AREA_EXIST_TRAY));//上料区有托盘 + log.info("工艺{},预充开始", heatModuleCode); + log.info("工艺{},加液机械臂上升", heatModuleCode); + solutionModuleService.solutionMotorMoveZero();//加液机械臂上升 + transferModuleService.transferXMove(heatArea1TrayClawPoint.getX());//转运模块移动至加热位1 + solutionModuleService.solutionMotorMove(liquidAreaPreFillPoint);//加液机械臂下降至至预充点位 + log.info("工艺{},电磁阀对应通道打开", heatModuleCode); + solutionModuleService.liquidValveSwitch(SolutionCode.waste);//电磁阀对应通道打开 + log.info("工艺{},排空", heatModuleCode); + solutionModuleService.liquidPumpMove(-drainDistance);//排空 + log.info("工艺{},电磁阀对应通道打开", heatModuleCode); + solutionModuleService.liquidValveSwitchByChannel(channel);//电磁阀对应通道打开 + log.info("工艺{},预充", heatModuleCode); + solutionModuleService.liquidPumpMove(preFillDistance);//预充 + log.info("工艺{},加液机械臂上升", heatModuleCode); + solutionModuleService.solutionMotorMoveZero();//加液机械臂上升 + /*预充结束*/ + /*移动至加液区*/ log.info("工艺{},移动至加液区", heatModuleCode); - transferModuleService.transferMove(liquidAreaTrayPoint3D);//移动至加液时托盘位置点 + transferModuleService.transferMove(liquidAreaTrayPoint3D);//移动至加液至托盘位置点 /*移动至加液区*/ /*开始加液*/ @@ -566,7 +567,7 @@ public class CraftsStepService { /*移动至加热区*/ log.info("工艺{},移动至加热区", heatModuleCode); boolean heatModuleTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(heatModuleCode);//目标加热模块有无托盘 - //Assert.isTrue(!heatModuleTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_OCCUPIED));//提示被占用 + Assert.isTrue(!heatModuleTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_OCCUPIED));//提示被占用 webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "机械臂移动至加热区", heatModuleCode)); log.info("工艺{},加液机械臂上升", heatModuleCode); solutionModuleService.solutionMotorMoveZero();//加液机械臂上升 @@ -616,7 +617,7 @@ public class CraftsStepService { /*获取参数结束*/ boolean heatTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(heatModuleCode);//获取加热区传感器状态 - //Assert.isTrue(heatTrayExist, () -> new AppException(ResultCode.CRAFT_TARGET_HEAT_NO_TRAY));//加热区无托盘 + Assert.isTrue(heatTrayExist, () -> new AppException(ResultCode.CRAFT_TARGET_HEAT_NO_TRAY));//加热区无托盘 log.info("工艺{},申请转运模组并等待", heatModuleCode); transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_liquid);//申请转运模组并等待 log.info("工艺{},加液机械臂上升", heatModuleCode); @@ -774,8 +775,11 @@ public class CraftsStepService { Double volume = params.getDouble("volume") == null ? 2.0 : params.getDouble("volume");//加水量 Integer cycle = params.getInt("cycle");//次数 Double height = params.getDouble("height");//下降进入试管的高度 + if (height > 50) { + throw new AppException(ResultCode.CRAFT_PARAMS_MISTAKE); + } boolean heatModuleTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(heatModuleCode);//目标加热模块有无托盘 - //Assert.isTrue(heatModuleTrayExist, () -> new AppException(ResultCode.CRAFT_TARGET_HEAT_NO_TRAY));//提示工艺加热区无托盘 + Assert.isTrue(heatModuleTrayExist, () -> new AppException(ResultCode.CRAFT_TARGET_HEAT_NO_TRAY));//提示工艺加热区无托盘 Point3D heatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(heatModuleCode);//获取目标加热模块托盘夹取点 Double transferModuleXPickTrayMoveDistance = devicePositionService.getPosition(DevicePositionCode.transferModuleXPickTrayMoveDistance).getDistance();//获取转运模块X轴拿取托盘进出卡槽移动距离 Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液时托盘位置点 @@ -808,11 +812,11 @@ public class CraftsStepService { transferModuleService.transferZMoveZero();//Z轴抬升至最高 log.info("工艺{},机械臂移动至加液区", heatModuleCode); webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "机械臂移动至加液区", liquidAreaTrayPoint3D)); + transferModuleService.transferMove(liquidAreaTrayPoint3D);//移动至加液时托盘位置点 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayStatus(false);//加热区托盘状态 deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setInHeatModule(false);//托盘状态 deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setInSolutionPositon(true);//托盘状态 deviceStateService.getDeviceState().getSolutionModule().setPumping(true); - transferModuleService.transferMove(liquidAreaTrayPoint3D);//移动至加液时托盘位置点 /*列号开始*/ List columns = new ArrayList<>(); TubeState[] tubes = deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).getTubes(); @@ -843,7 +847,11 @@ public class CraftsStepService { /*抽液结束*/ + + /*预充开始*/ + boolean feedTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取传感器状态 + Assert.isTrue(!feedTrayExist, () -> new AppException(ResultCode.FEED_AREA_EXIST_TRAY));//上料区有托盘 log.info("工艺{},清洗-预充开始", heatModuleCode); solutionModuleService.solutionMotorMoveZero();//加液机械臂上升 transferModuleService.transferXMove(heatArea1TrayClawPoint.getX());//转运模块移动至加热位1 @@ -984,7 +992,7 @@ public class CraftsStepService { Double temperature = params.getDouble("temperature");//退火温度 Integer time = params.getInt("time");//秒 boolean heatModuleTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(heatModuleCode); - //Assert.isTrue(heatModuleTrayExist, () -> new AppException(ResultCode.CRAFT_TARGET_HEAT_NO_TRAY));//提示加热模块无托盘 + Assert.isTrue(heatModuleTrayExist, () -> new AppException(ResultCode.CRAFT_TARGET_HEAT_NO_TRAY));//提示加热模块无托盘 while (deviceSensorService.getTrayStateByHeatModuleCode(HeatModuleCode.heat_module_04)) {//判断退火区是否被占用 delay(10);//等待10秒 } @@ -1053,7 +1061,8 @@ public class CraftsStepService { } log.info("工艺{},恒温中", HeatModuleCode.heat_module_04); delay(seconds); - + heatModuleService.heatRodClose(HeatModuleCode.heat_module_04);//关闭加热棒 + deviceStateService.getDeviceState().getHeatModuleByCode(HeatModuleCode.heat_module_04).setHeatingType(HeatingType.stop); //设置加热区状态 停止加热 log.info("工艺{},加热完毕", heatModuleCode); log.info("工艺{},获取转运模组锁", heatModuleCode); @@ -1091,7 +1100,6 @@ public class CraftsStepService { log.info("工艺{},散热关闭", heatModuleCode); heatModuleService.fanClose(heatModuleCode);//散热关闭 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setFanOpen(false); //设置加热区风扇关闭 - deviceStateService.getDeviceState().getHeatModuleByCode(HeatModuleCode.heat_module_04).setHeatingType(HeatingType.stop); //设置加热区状态 加热中 deviceLightSoundService.openBeep(CmdBeepMode.info); delay(2); deviceLightSoundService.closeBeep(); @@ -1139,8 +1147,9 @@ public class CraftsStepService { craftMonitorService.removeById(craftMonitor.getId()); List trayList = deviceStateService.getDeviceState().getTrays(); trayList.removeIf((tray) -> tray.getHeatModuleCode().equals(heatModuleCode)); - // moveToFeedModule(heatModuleCode); + // moveToFeedModule(heatModuleCode); } + /*结束后移动至上料区*/ public void moveToFeedModule(HeatModuleCode heatModuleCode) throws Exception { try { @@ -1188,7 +1197,7 @@ public class CraftsStepService { transferModuleService.releaseTransferModule();//转运模组释放 } List trayList = deviceStateService.getDeviceState().getTrays(); - trayList.removeIf((tray)->tray.getHeatModuleCode().equals(heatModuleCode)); + trayList.removeIf((tray) -> tray.getHeatModuleCode().equals(heatModuleCode)); } diff --git a/src/main/java/com/iflytop/sgs/common/enums/data/DevicePositionCode.java b/src/main/java/com/iflytop/sgs/common/enums/data/DevicePositionCode.java index 636e89e..85aa60f 100644 --- a/src/main/java/com/iflytop/sgs/common/enums/data/DevicePositionCode.java +++ b/src/main/java/com/iflytop/sgs/common/enums/data/DevicePositionCode.java @@ -19,7 +19,7 @@ public enum DevicePositionCode { ////////////////位置 /** - * 加液模块电机下降进入试管加液位置 + * 加液模块电机下降进入试管预充位置 */ solutionModuleMotorDownPreFillPositon(DevicePositionType.POSITION, "加液模块电机下降进入预充位置"), /** diff --git a/src/main/java/com/iflytop/sgs/common/result/ResultCode.java b/src/main/java/com/iflytop/sgs/common/result/ResultCode.java index 4389105..821fc36 100644 --- a/src/main/java/com/iflytop/sgs/common/result/ResultCode.java +++ b/src/main/java/com/iflytop/sgs/common/result/ResultCode.java @@ -69,7 +69,8 @@ public enum ResultCode implements IResultCode, Serializable { Z_IS_NOT_SAFE("6032", "Z轴位置不安全"), HEAT_MODULE_NO_IDLE("6033", "加热模块无空闲"), TRANSFER_MODULE_YES_TRAY("6034", "夹爪存在托盘"), - NOT_ALLOWED_HEAT_MODULE("6035", "不允许选择的加热区"),; + NOT_ALLOWED_HEAT_MODULE("6035", "不允许选择的加热区"), + FEED_AREA_EXIST_TRAY("6036", "上料区无托盘"),; /** 状态码 */ private final String code; /** 提示信息 */