diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/DrainLiquidCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/DrainLiquidCommand.java new file mode 100644 index 0000000..7cd4a32 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/DrainLiquidCommand.java @@ -0,0 +1,82 @@ +package com.iflytop.sgs.app.cmd.control; + +import cn.hutool.core.lang.Assert; +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.bo.Point3D; +import com.iflytop.sgs.app.model.bo.status.device.TrayState; +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.HeatModuleService; +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.HeatModuleCode; +import com.iflytop.sgs.common.enums.SolutionCode; +import com.iflytop.sgs.common.enums.SystemConfigCode; +import com.iflytop.sgs.common.enums.data.DevicePositionCode; +import com.iflytop.sgs.common.exception.AppException; +import com.iflytop.sgs.common.result.ResultCode; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.List; +import java.util.concurrent.CompletableFuture; + +/** + * 管道排空 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("drain_liquid")//业务指令注解 +public class DrainLiquidCommand extends BaseCommandHandler { + private final HeatModuleService heatModuleService; + private final TransferModuleService transferModuleService; + + private final DevicePositionService devicePositionService; + private final DeviceStateService deviceStateService; + private final DeviceSensorService deviceSensorService; + private final SolutionModuleService solutionModuleService; + private final SystemConfigService systemConfigService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) throws Exception { + if (deviceStateService.getCommandMutexState().get().isTransferCommandExecuting()) { + throw new AppException(ResultCode.CMD_BUSY); + } + boolean liquidTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取上料区托盘状态 + Assert.isTrue(!liquidTrayExist, () -> new AppException(ResultCode.OPERATION_NOT_ALLOWED));//上料区不能存在托盘 + deviceStateService.getCommandMutexState().get().setTransferCommandExecuting(true); + return runAsync(() -> { + try { + boolean preFillFlag = systemConfigService.getSystemConfigBooleanByCode(SystemConfigCode.pre_fill_when_open_service); + 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 + if (preFillFlag) { + solutionModuleService.solutionMotorMoveZero();//加液机械臂上升 + transferModuleService.transferZMoveZero();//Z轴抬升至最高 + 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 + solutionModuleService.liquidValveSwitch(SolutionCode.waste);//电磁阀对应通道打开 + solutionModuleService.liquidPumpMove(-preFillDistance);//排空 + solutionModuleService.liquidValveSwitch(SolutionCode.thin);//电磁阀对应通道打开 + solutionModuleService.liquidPumpMove(-preFillDistance);//排空 + solutionModuleService.liquidValveSwitch(SolutionCode.thick);//电磁阀对应通道打开 + solutionModuleService.liquidPumpMove(-preFillDistance);//排空 + solutionModuleService.liquidValveSwitch(SolutionCode.water);//电磁阀对应通道打开 + solutionModuleService.liquidPumpMove(-preFillDistance);//排空 + solutionModuleService.solutionMotorMoveZero();//回原点 + } + } finally { + deviceStateService.getCommandMutexState().get().setTransferCommandExecuting(false); + } + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/selftest/MoveTestCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/selftest/MoveTestCommand.java index 0140cd0..db36fa2 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/selftest/MoveTestCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/selftest/MoveTestCommand.java @@ -4,7 +4,9 @@ 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.model.entity.SystemConfig; 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.HeatModuleService; @@ -12,12 +14,12 @@ import com.iflytop.sgs.app.service.device.module.SolutionModuleService; import com.iflytop.sgs.app.service.device.module.TransferModuleService; import com.iflytop.sgs.app.ws.server.WebSocketSender; import com.iflytop.sgs.common.annotation.CommandMapping; -import com.iflytop.sgs.common.enums.DevicePartId; -import com.iflytop.sgs.common.enums.DeviceSensorCode; -import com.iflytop.sgs.common.enums.HeatModuleCode; +import com.iflytop.sgs.common.enums.*; +import com.iflytop.sgs.common.enums.cmd.CmdColor; import com.iflytop.sgs.common.enums.data.DevicePositionCode; import com.iflytop.sgs.common.exception.AppException; import com.iflytop.sgs.common.result.ResultCode; +import com.iflytop.sgs.hardware.exception.HardwareException; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; import org.springframework.stereotype.Component; @@ -39,6 +41,7 @@ public class MoveTestCommand extends BaseCommandHandler { private final DeviceStateService deviceStateService; private final WebSocketSender webSocketService; private final DeviceSensorService deviceSensorService; + private final SystemConfigService systemConfigService; @Override public CompletableFuture handle(CmdDTO cmdDTO) { @@ -74,6 +77,30 @@ public class MoveTestCommand extends BaseCommandHandler { transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.getZ());//Z轴下降至夹取点，使托盘落入上料区 transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高 webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "4、z轴电机检测完毕", 100, "success")); + CompletableFuture.runAsync(() -> { + try { + boolean preFillFlag = systemConfigService.getSystemConfigBooleanByCode(SystemConfigCode.pre_fill_when_open_service); + 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 + if (preFillFlag) { + 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 + solutionModuleService.liquidValveSwitch(SolutionCode.waste);//电磁阀对应通道打开 + solutionModuleService.liquidPumpMove(-preFillDistance);//排空 + solutionModuleService.liquidValveSwitch(SolutionCode.thin);//电磁阀对应通道打开 + solutionModuleService.liquidPumpMove(preFillDistance);//预充 + solutionModuleService.liquidValveSwitch(SolutionCode.thick);//电磁阀对应通道打开 + solutionModuleService.liquidPumpMove(preFillDistance);//预充 + solutionModuleService.liquidValveSwitch(SolutionCode.water);//电磁阀对应通道打开 + solutionModuleService.liquidPumpMove(preFillDistance);//预充 + solutionModuleService.solutionMotorMoveZero();//回原点 + } + } catch (Exception e) { + log.error("设备开机预充失败"); + } + }); + } finally { deviceStateService.getCommandMutexState().get().setMoveTest(false); } diff --git a/src/main/java/com/iflytop/sgs/common/enums/SystemConfigCode.java b/src/main/java/com/iflytop/sgs/common/enums/SystemConfigCode.java index 3a24e13..16a77b1 100644 --- a/src/main/java/com/iflytop/sgs/common/enums/SystemConfigCode.java +++ b/src/main/java/com/iflytop/sgs/common/enums/SystemConfigCode.java @@ -11,14 +11,16 @@ public enum SystemConfigCode { thick("浓硝酸加液系数"), thin("稀硝酸加液系数"), back_flow_distance("稀硝酸加液系数"), - pre_fill_distance("预充距离"), - drain_distance("排空距离"), + pre_fill_distance("加液预充距离"), + drain_distance("加液排空距离"), reduce_distance("过量抽液距离"), cycle_clean_max("允许的最大清洁次数"), liquid_max_speed("蠕动泵最大转速限制"), door_origin_is_ignore("忽略门自检"), crafts_end_beep_times("工艺结束蜂鸣器响次数"), - fan_stop_temperature("风扇关闭的温度设置") + fan_stop_temperature("风扇关闭的温度设置"), + pre_fill_when_open_service("开机是否预充"), + pre_fill_distance_when_open_service("开机预充距离"), ; private final String description; diff --git a/src/main/resources/sql/init.sql b/src/main/resources/sql/init.sql index eab0a4b..abd437d 100644 --- a/src/main/resources/sql/init.sql +++ b/src/main/resources/sql/init.sql @@ -58,6 +58,8 @@ INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (10, '忽略门自检', 'door_origin_is_ignore', 'true', '2025-05-29T14:23:48', '2025-05-29T14:23:48'); INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (11, '工艺结束蜂鸣器次数', 'crafts_end_beep_times', '3', '2025-06-04 19:06:55.000', '2025-06-04 19:06:56.000'); INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (12, '风扇关闭的温度设置', 'fan_stop_temperature', '110.0', '2025-06-04 19:06:55.000', '2025-06-04 19:06:56.000'); +INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (13, '开机是否预充', 'pre_fill_when_open_service', 'true', '2025-06-04 19:06:55.000', '2025-06-04 19:06:56.000'); +INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (14, '开机预充距离', 'pre_fill_distance_when_open_service', '40.0', '2025-06-04 19:06:55.000', '2025-06-04 19:06:56.000'); @@ -82,37 +84,6 @@ CREATE TABLE IF NOT EXISTS device_param_config update_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP ); --- crafts_going正在执行的工艺 根据工艺id重新生成工艺 然后根据记录的step_id恢复到断电前的步骤， --- 加液 需要记录已经加液的列 --- 抽液 需要记录已经抽取的列 --- 清洗 需要记录清洗的次数和已经清洗的列 --- 加热需要记录已经加热的分钟 --- 烘干需要记录烘干的分钟 --- 退火需要记录退火的分钟 --- 断电恢复后，重新上电，首先保证机械臂能够正常到安全位置 --- 1、加液机械臂回原点 --- 2、自检位置需要加 x z的左 右 上 下移动 定死移动距离 --- 3、z回原点 x回原点 --- 4、检测到机械臂有托盘，检测上料区是否有托盘，如果无移动至上料区，如果有前台进行提示 --- 5、机械臂无托盘开始进行自检，自检需要增加停止和恢复按钮 --- 6、自检完成，检测到存在未完成的工艺 --- 7、前台弹窗显示未完成的工艺，工艺名称 工艺步骤 正在执行的步骤 当前步骤的参数 --- 8、对正在执行的步骤，支持手动进行参数的更改 参数内容 --- 9、按照doing表里的数据，启动工艺，传入当前执行的步骤id，从正在执行的步骤开始执行 - - --- 加液前断电 --- 加液中断电 --- 加液后断电 --- 抽液前断电 --- 抽液中断电 --- 抽液后断电 --- 清洗前断电 --- 清洗中断电 ---清洗后断电 ---退火前 ---退火中 ---退火后 -- crafts 工艺 表 CREATE TABLE IF NOT EXISTS crafts (