From 122fe8fb8b8d4ebec52d1b8d0495240d4e58b224 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=8E=8B?= <1063331231@qq.com> Date: Sat, 14 Jun 2025 17:13:57 +0800 Subject: [PATCH] =?UTF-8?q?=E9=A2=84=E5=85=85=E5=A2=9E=E5=8A=A0=E4=BC=A0?= =?UTF-8?q?=E6=84=9F=E5=99=A8=E7=9A=84=E5=88=A4=E6=96=AD?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../iflytop/sgs/app/cmd/selftest/LiquidPreFillCommand.java | 14 +++++++++++++- 1 file changed, 13 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/iflytop/sgs/app/cmd/selftest/LiquidPreFillCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/selftest/LiquidPreFillCommand.java index 666792b..0a824c9 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/selftest/LiquidPreFillCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/selftest/LiquidPreFillCommand.java @@ -1,14 +1,17 @@ package com.iflytop.sgs.app.cmd.selftest; import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.core.SelfMoveTestGenerator; import com.iflytop.sgs.app.model.bo.Point3D; import com.iflytop.sgs.app.model.dto.CmdDTO; import com.iflytop.sgs.app.service.api.DevicePositionService; import com.iflytop.sgs.app.service.api.SystemConfigService; +import com.iflytop.sgs.app.service.device.DeviceSensorService; import com.iflytop.sgs.app.service.device.DeviceStateService; import com.iflytop.sgs.app.service.device.module.SolutionModuleService; import com.iflytop.sgs.app.service.device.module.TransferModuleService; import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.enums.DeviceSensorCode; import com.iflytop.sgs.common.enums.SolutionCode; import com.iflytop.sgs.common.enums.SystemConfigCode; import com.iflytop.sgs.common.enums.data.DevicePositionCode; @@ -26,13 +29,14 @@ import java.util.concurrent.CompletableFuture; @Slf4j @Component @RequiredArgsConstructor -@CommandMapping("liquid_pre_fill_when_launch ")//业务指令注解 +@CommandMapping("liquid_pre_fill_when_launch")//业务指令注解 public class LiquidPreFillCommand extends BaseCommandHandler { private final SolutionModuleService solutionModuleService; private final TransferModuleService transferModuleService; private final DevicePositionService devicePositionService; private final DeviceStateService deviceStateService; private final SystemConfigService systemConfigService; + private final DeviceSensorService deviceSensorService; @Override public CompletableFuture handle(CmdDTO cmdDTO) { @@ -42,6 +46,14 @@ public class LiquidPreFillCommand extends BaseCommandHandler { deviceStateService.getCommandMutexState().get().setMoveTest(true); return runAsync(() -> { try { + boolean clawTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.CLAW_TRAY_EXIST); + if (clawTrayExist) { + throw new AppException(ResultCode.TRANSFER_MODULE_YES_TRAY);//夹爪存在托盘 + } + boolean feedTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST); + if (feedTrayExist) { + throw new AppException(ResultCode.FEED_AREA_EXIST_TRAY);//上料区存在托盘 + } Point3D heatArea1TrayClawPoint = devicePositionService.getPosition(DevicePositionCode.heatArea1TrayClawPoint).getPoint3D();//加热位1坐标 Double liquidAreaPreFillPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaPreFillPoint).getPositon(); //预充时加液臂下降位置 Double preFillDistance = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.pre_fill_distance_when_open_service);//预充距离