From 3749a4dec46b4fb737236abfa0bb6523dcb4f375 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=8E=8B=E6=A2=A6=E8=BF=9C?= <1063331231@qq.com> Date: Tue, 27 May 2025 16:23:14 +0800 Subject: [PATCH] =?UTF-8?q?fix:=E5=A2=9E=E5=8A=A0=E6=89=98=E7=9B=98?= =?UTF-8?q?=E7=8A=B6=E6=80=81=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/control/MoveToHeatAreaCommand.java | 10 ++++++---- .../iflytop/sgs/app/cmd/control/MoveToLiquidAreaCommand.java | 11 +++++++---- src/main/java/com/iflytop/sgs/common/result/ResultCode.java | 2 ++ 3 files changed, 15 insertions(+), 8 deletions(-) diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/MoveToHeatAreaCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/MoveToHeatAreaCommand.java index b7d3103..d7c2e25 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/MoveToHeatAreaCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/MoveToHeatAreaCommand.java @@ -1,5 +1,6 @@ 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.dto.CmdDTO; @@ -10,6 +11,8 @@ import com.iflytop.sgs.app.service.device.module.TransferModuleService; import com.iflytop.sgs.common.annotation.CommandMapping; import com.iflytop.sgs.common.enums.HeatModuleCode; 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; @@ -32,13 +35,12 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler { @Override public CompletableFuture handle(CmdDTO cmdDTO) throws Exception { - if (!deviceStateService.getDeviceState().getTransferModule().isTrayStatus()) { //判断机械臂上是否有托盘 - //TODO 判断目标加热模块传感器是否有托盘，如果有托盘的话提示错误 - } - String targetHeatModuleCodeStr = cmdDTO.getStringParam("heatModuleCode"); HeatModuleCode targetHeatModuleCode = HeatModuleCode.valueOf(targetHeatModuleCodeStr);//目标加热模块 + if (!deviceStateService.getDeviceState().getTransferModule().isTrayStatus()) { //判断机械臂上是否有托盘 + Assert.isTrue(!deviceStateService.getDeviceState().getHeatModuleByCode(targetHeatModuleCode).isTrayStatus(), () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//目标加热区有托盘 + } Point3D targetHeatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(targetHeatModuleCode);//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 Double transferModuleZPickTrayDownPositon = devicePositionService.getPosition(DevicePositionCode.transferModuleZPickTrayDownPositon).getPositon();//获取转运模块Z轴拿取托盘时下降的高度位置 diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/MoveToLiquidAreaCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/MoveToLiquidAreaCommand.java index e347e0a..e9c7c9b 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/MoveToLiquidAreaCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/MoveToLiquidAreaCommand.java @@ -1,5 +1,6 @@ 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.dto.CmdDTO; @@ -10,6 +11,8 @@ import com.iflytop.sgs.app.service.device.module.TransferModuleService; import com.iflytop.sgs.common.annotation.CommandMapping; import com.iflytop.sgs.common.enums.HeatModuleCode; 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; @@ -36,9 +39,9 @@ public class MoveToLiquidAreaCommand extends BaseCommandHandler { HeatModuleCode targetHeatModuleCode;//目标加热模块 if (targetHeatModuleCodeStr != null) {//目标加热模块非必填，如果没有传递目标加热模块则尝试获取上料区是否有托盘 targetHeatModuleCode = HeatModuleCode.valueOf(targetHeatModuleCodeStr); - }else{ + } else { targetHeatModuleCode = null; - //TODO 尝试获取上料区是否有托盘，如果没有托盘则提示错误 + Assert.isTrue(deviceStateService.getDeviceState().getSolutionModule().isFeedAreaTrayStatus(), () -> new AppException(ResultCode.FEED_AREA_NO_TRAY));//上料区无托盘 } Point3D targetHeatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(targetHeatModuleCode);//获取目标加热模块托盘夹取点 @@ -48,7 +51,7 @@ public class MoveToLiquidAreaCommand extends BaseCommandHandler { Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液时托盘位置点 return runAsync(() -> { - if(targetHeatModuleCode == null){ + if (targetHeatModuleCode == null) { //获取上料区托盘 transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.getX() + transferModuleXPickTrayMoveDistance);//将X轴移动至上料区托盘夹取点 + 进出卡槽移动距离 transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), transferModuleZPickTrayDownPositon);//Z轴下降至夹取点，使托盘落入石墨加热盘 @@ -56,7 +59,7 @@ public class MoveToLiquidAreaCommand extends BaseCommandHandler { transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高 deviceStateService.getDeviceState().getSolutionModule().setFeedAreaTrayStatus(false);//设定上料区托盘状态 deviceStateService.getDeviceState().getTrayByHeatModuleCode(targetHeatModuleCode).setInFeedArea(false);//设定托盘不在上料区中 - }else{ + } else { //获取目标加热模块托盘 transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), targetHeatModuleTrayClawPoint3D.getX() + transferModuleXPickTrayMoveDistance);//将X轴移动至目标加热模块托盘夹取点 + 进出卡槽移动距离 transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), transferModuleZPickTrayDownPositon);//Z轴下降至夹取点，使托盘落入石墨加热盘 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 90257a3..747c29d 100644 --- a/src/main/java/com/iflytop/sgs/common/result/ResultCode.java +++ b/src/main/java/com/iflytop/sgs/common/result/ResultCode.java @@ -57,6 +57,8 @@ public enum ResultCode implements IResultCode, Serializable { CMD_BUSY("6024", "设备忙，请稍后"), TARGET_HEAT_MODULE_NOT_ANNEAL("6025", "目标加热区不是退火状态"), TRANSFER_MODULE_NO_TRAY("6026", "转运模块无托盘"), + SOLUTION_MODULE_NO_TRAY("6027", "加液模块无托盘"), + FEED_AREA_NO_TRAY("6028", "上料区无托盘"), ; /** 状态码 */ private final String code;