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fix:加液修改

master
王梦远 2 months ago
parent
a8194481e6
commit
3ac383e681
1 changed files with 19 additions and 17 deletions
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  1. 36
      src/main/java/com/iflytop/sgs/app/cmd/control/LiquidAddCommand.java

36
src/main/java/com/iflytop/sgs/app/cmd/control/LiquidAddCommand.java
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@ -14,7 +14,6 @@ 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.ValveStateCode;
import com.iflytop.sgs.common.enums.data.DevicePositionCode;
import com.iflytop.sgs.common.exception.AppException;
@ -43,24 +42,27 @@ public class LiquidAddCommand extends BaseCommandHandler {
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
Point3D liquidAreaTrayPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D(); //获取加液区上方托盘点位
Double solutionModuleMotorDownInTubeAddPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeAddPositon).getPositon(); //加液模块电机下降进入试管加液位置
Double trayTubeHorizontalSpacingDistance = devicePositionService.getPosition(DevicePositionCode.trayTubeHorizontalSpacingDistance).getDistance(); //托盘试管水平间距
Point3D feedAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.feedAreaTrayPoint).getPoint3D();//获取上料区托盘夹爪位置点
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
JSONArray jsonArray = cmdDTO.getJSONArrayParam("columns");//获取参数
Integer solutionId = cmdDTO.getIntegerParam("solutionId");//溶液ID
double volume = cmdDTO.getDoubleParam("volume");//量
Solutions solutions = solutionsService.getById(solutionId);//获取溶液
ValveStateCode valveStateCode = ValveStateCode.valueOf(solutions.getName());//根据溶液获取电磁阀code
Assert.isTrue(!jsonArray.isEmpty(), () -> new AppException(ResultCode.INVALID_PARAMETER));//确定选中了列
return runAsync(() -> {
deviceStateService.getDeviceState().getSolutionModule().setIdle(true);//设置占用
deviceStateService.getDeviceState().getSolutionModule().setIdle(false);//设置占用
deviceStateService.getDeviceState().getSolutionModule().setPumping(true);//设置正在加液
JSONArray jsonArray = cmdDTO.getJSONArrayParam("columns");//获取参数
Integer solutionId = cmdDTO.getIntegerParam("solutionId");//溶液ID
double volume = cmdDTO.getDoubleParam("volume");//量
Solutions solutions = solutionsService.getById(solutionId);//获取溶液
ValveStateCode valveStateCode = ValveStateCode.valueOf(solutions.getName());//根据溶液获取电磁阀code
Assert.isTrue(!jsonArray.isEmpty(), () -> new AppException(ResultCode.INVALID_PARAMETER));//确定选中了列
Point3D liquidAreaTrayPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D(); //获取加液区上方托盘点位
Double solutionModuleMotorDownInTubeAddPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeAddPositon).getPositon(); //加液模块电机下降进入试管加液位置
Double trayTubeHorizontalSpacingDistance = devicePositionService.getPosition(DevicePositionCode.trayTubeHorizontalSpacingDistance).getDistance(); //托盘试管水平间距
solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//加液机械臂上升
solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂上升至0
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(), feedAreaTrayPoint3D.getZ());//Z轴下降至夹取点，使托盘落入石墨加热盘
transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -transferModuleXPickTrayMoveDistance);//X轴进入卡槽
transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint);//移动至加液位置
boolean liquidTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取传感器状态
Assert.isTrue(liquidTrayExist, () -> new AppException(ResultCode.SOLUTION_MODULE_NO_TRAY));//判断机械臂是否有托盘
// boolean liquidTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取传感器状态
//Assert.isTrue(liquidTrayExist, () -> new AppException(ResultCode.SOLUTION_MODULE_NO_TRAY));//判断机械臂是否有托盘 todo 正式放开
Integer currentChannel = deviceSensorService.readLiquidValvePosition();//获取当前阀门的状态
ValveStateCode oldValveState = ValveStateCode.thick.getByChannel(currentChannel);//获取当前电磁阀的值
@ -111,7 +113,7 @@ public class LiquidAddCommand extends BaseCommandHandler {
}
solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂上升
transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint);//移动至加液位置
deviceStateService.getDeviceState().getSolutionModule().setIdle(false);//设置占用解除
deviceStateService.getDeviceState().getSolutionModule().setIdle(true);//设置占用解除
deviceStateService.getDeviceState().getSolutionModule().setPumping(false);//设置加液结束
});
}

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