From 502406a1cccd53619298d544ea4c219a9272137c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=8E=8B?= <1063331231@qq.com> Date: Sat, 14 Jun 2025 17:32:00 +0800 Subject: [PATCH] =?UTF-8?q?=E7=A7=BB=E5=87=BA=E6=89=98=E7=9B=98=E5=A2=9E?= =?UTF-8?q?=E5=8A=A0=E4=BC=A0=E6=84=9F=E5=99=A8=E7=9A=84=E5=8F=8C=E9=87=8D?= =?UTF-8?q?=E6=A3=80=E6=B5=8B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/main/java/com/iflytop/sgs/app/cmd/control/OutTrayCommand.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/OutTrayCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/OutTrayCommand.java index 9a218e7..cc15cc6 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/OutTrayCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/OutTrayCommand.java @@ -47,8 +47,6 @@ public class OutTrayCommand extends BaseCommandHandler { private final SolutionModuleService solutionModuleService; - - @Override public CompletableFuture handle(CmdDTO cmdDTO) throws Exception { String targetHeatModuleCodeStr = cmdDTO.getStringParam("heatModuleCode"); @@ -58,6 +56,8 @@ public class OutTrayCommand extends BaseCommandHandler { } 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 + boolean heatTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(targetHeatModuleCode);//获取传感器状态 + Assert.isTrue(heatTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//加热区无托盘 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 feedAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.feedAreaTrayPoint).getPoint3D();//获取上料区托盘夹爪位置点 Point3D targetHeatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(targetHeatModuleCode);//获取目标加热模块托盘夹取点 @@ -67,8 +67,8 @@ public class OutTrayCommand extends BaseCommandHandler { boolean liquidTrayExistAgain = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取上料区托盘状态 Assert.isTrue(!liquidTrayExistAgain, () -> new AppException(ResultCode.OPERATION_NOT_ALLOWED));//上料区不能存在托盘 solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂上升 - boolean heatTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(targetHeatModuleCode);//获取传感器状态 - Assert.isTrue(heatTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//加热区无托盘 + boolean heatTrayExistAgain = deviceSensorService.getTrayStateByHeatModuleCode(targetHeatModuleCode);//获取传感器状态 + Assert.isTrue(heatTrayExistAgain, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//加热区无托盘 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(), targetHeatModuleTrayClawPoint3D.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