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忽略自检项目

master
白凤吉 2 months ago
parent
1145fb32ab
commit
549e3dea16
15 changed files with 209 additions and 91 deletions
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  1. 3
      src/main/java/com/iflytop/sgs/app/cmd/selftest/LiquidLiftingOriginCommand.java
  2. 12
      src/main/java/com/iflytop/sgs/app/cmd/selftest/MoveTestCommand.java
  3. 10
      src/main/java/com/iflytop/sgs/app/cmd/selftest/TrayOutCommand.java
  4. 2
      src/main/java/com/iflytop/sgs/app/controller/CraftsController.java
  5. 14
      src/main/java/com/iflytop/sgs/app/controller/SelfTestController.java
  6. 3
      src/main/java/com/iflytop/sgs/app/model/bo/status/CommandMutexState.java
  7. 16
      src/main/java/com/iflytop/sgs/app/model/bo/status/SelfTestState.java
  8. 2
      src/main/java/com/iflytop/sgs/app/model/dto/PauseCraftsDTO.java
  9. 23
      src/main/java/com/iflytop/sgs/app/model/dto/SetIgnoreItemDTO.java
  10. 14
      src/main/java/com/iflytop/sgs/app/service/api/SystemConfigService.java
  11. 33
      src/main/java/com/iflytop/sgs/app/service/device/SelfTestService.java
  12. 14
      src/main/java/com/iflytop/sgs/common/enums/SystemConfigCode.java
  13. 6
      src/main/resources/sql/init.sql

3
src/main/java/com/iflytop/sgs/app/cmd/selftest/TransferOriginCommand.java → src/main/java/com/iflytop/sgs/app/cmd/selftest/LiquidLiftingOriginCommand.java
View File

@ -4,7 +4,6 @@ import com.iflytop.sgs.app.core.BaseCommandHandler;
import com.iflytop.sgs.app.model.dto.CmdDTO;
import com.iflytop.sgs.app.service.device.SelfTestService;
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 lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
@ -19,7 +18,7 @@ import java.util.concurrent.CompletableFuture;
@Component
@RequiredArgsConstructor
@CommandMapping("dual_robot_origin")//业务指令注解
public class TransferOriginCommand extends BaseCommandHandler {
public class LiquidLiftingOriginCommand extends BaseCommandHandler {
private final SolutionModuleService solutionModuleService;
private final SelfTestService selfTestService;

12
src/main/java/com/iflytop/sgs/app/cmd/selftest/MoveTestCommand.java
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@ -13,6 +13,8 @@ import com.iflytop.sgs.app.ws.server.WebSocketSender;
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;
@ -31,18 +33,23 @@ public class MoveTestCommand extends BaseCommandHandler {
private final TransferModuleService transferModuleService;
private final HeatModuleService heatModuleService;
private final DevicePositionService devicePositionService;
private final DeviceStateService deviceStateService;
private final WebSocketSender webSocketService;
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
if (deviceStateService.getCommandMutexState().get().isMoveTest()) {
throw new AppException(ResultCode.COMMAND_ALREADY_EXECUTING);
}
HeatModuleCode annealHeatModuleCode = HeatModuleCode.heat_module_04;
Point3D annealHeatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(annealHeatModuleCode);//获取退火加热模块托盘夹取点
Double solutionModuleMotorDownInTubeExtPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeExtPositon).getPositon();//加液模块电机下降进入试管抽取位置
Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液时托盘位置点
Point3D feedAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.feedAreaTrayPoint).getPoint3D();//获取上料区托盘夹爪位置点
deviceStateService.getCommandMutexState().get().setMoveTest(true);
return runAsync(() -> {
try {
webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "1、各项传感器正常", 25));
solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂抬升至最高
transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高
@ -56,6 +63,9 @@ 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));
} finally {
deviceStateService.getCommandMutexState().get().setMoveTest(false);
}
});
}
}

10
src/main/java/com/iflytop/sgs/app/cmd/selftest/TrayOutCommand.java
View File

@ -12,6 +12,8 @@ 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;
@ -36,13 +38,18 @@ public class TrayOutCommand extends BaseCommandHandler {
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
if (deviceStateService.getCommandMutexState().get().isTrayOut()) {
throw new AppException(ResultCode.COMMAND_ALREADY_EXECUTING);
}
String targetHeatModuleCodeStr = cmdDTO.getStringParam("heatModuleCode");
HeatModuleCode targetHeatModuleCode = HeatModuleCode.valueOf(targetHeatModuleCodeStr);
Double doorOpenPosition = devicePositionService.getPosition(DevicePositionCode.doorOpenPosition).getDistance();//获取开门位置
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
Point3D feedAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.feedAreaTrayPoint).getPoint3D();//获取上料区托盘夹爪位置点
deviceStateService.getCommandMutexState().get().setTrayOut(true);
return runAsync(() -> {
try{
if (!deviceStateService.getDeviceState().getDoorModule().isOpen()) {
doorModuleService.doorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), doorOpenPosition);
deviceStateService.getDeviceState().getDoorModule().setOpen(true);
@ -60,6 +67,9 @@ public class TrayOutCommand extends BaseCommandHandler {
transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), transferModuleXPickTrayMoveDistance);//X轴移出卡槽
transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高
deviceStateService.getDeviceState().getSolutionModule().setFeedAreaTrayStatus(true);//设定上料区托盘状态
}finally {
deviceStateService.getCommandMutexState().get().setTrayOut(false);
}
});
}
}

2
src/main/java/com/iflytop/sgs/app/controller/CraftsController.java
View File

@ -90,7 +90,7 @@ public class CraftsController {
@Operation(summary = "暂停执行工艺")
@PostMapping("/pause")
public Result<String> pauseCrafts(@Valid @RequestBody PauseCraftsDto pauseCraftsDto) {
public Result<String> pauseCrafts(@Valid @RequestBody PauseCraftsDTO pauseCraftsDto) {
craftsService.pauseCrafts(pauseCraftsDto.getHeatId());
return Result.success();
}

14
src/main/java/com/iflytop/sgs/app/controller/SelfTestController.java
View File

@ -1,18 +1,17 @@
package com.iflytop.sgs.app.controller;
import com.iflytop.sgs.app.model.bo.status.SelfTestState;
import com.iflytop.sgs.app.model.dto.SetIgnoreItemDTO;
import com.iflytop.sgs.app.model.vo.GetRequireOutTrayVO;
import com.iflytop.sgs.app.service.device.DeviceStateService;
import com.iflytop.sgs.app.service.device.SelfTestService;
import com.iflytop.sgs.common.result.Result;
import io.swagger.v3.oas.annotations.Operation;
import io.swagger.v3.oas.annotations.tags.Tag;
import jakarta.validation.Valid;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.web.bind.annotation.GetMapping;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;
import org.springframework.web.bind.annotation.*;
import java.util.List;
@ -50,4 +49,11 @@ public class SelfTestController {
deviceStateService.getDeviceState().setSelfTest(isFinish);
return Result.success();
}
@Operation(summary = "设置自检项是否忽略")
@PostMapping("/set-ignore-item")
public Result<?> setIgnoreItem(@Valid @RequestBody SetIgnoreItemDTO setIgnoreItemDTO){
selfTestService.setIgnoreItem(setIgnoreItemDTO);
return Result.success();
}
}

3
src/main/java/com/iflytop/sgs/app/model/bo/status/CommandMutexState.java
View File

@ -32,4 +32,7 @@ public class CommandMutexState {
private boolean trayDownCommandExecuting = false;
private boolean trayLiftingOriginCommandExecuting = false;
private boolean trayUpCommandExecuting = false;
private boolean moveTest = false;
private boolean trayOut = false;
}

16
src/main/java/com/iflytop/sgs/app/model/bo/status/SelfTestState.java
View File

@ -9,13 +9,25 @@ public class SelfTestState {
@Schema(description = "门是否在原点")
private boolean doorOrigin = false;
@Schema(description = "转运机械臂x轴是否在原点")
@Schema(description = "门是否忽略自检")
private boolean doorOriginIsIgnore = false;
@Schema(description = "转运机械臂X轴是否在原点")
private boolean transferXOrigin = false;
@Schema(description = "转运机械臂z轴是否在原点")
@Schema(description = "转运机械臂X轴是否忽略自检")
private boolean transferXOriginIsIgnore = false;
@Schema(description = "转运机械臂Z轴是否在原点")
private boolean transferZOrigin = false;
@Schema(description = "转运机械臂Z轴是否忽略自检")
private boolean transferZOriginIsIgnore = false;
@Schema(description = "加液机械臂是否在原点")
private boolean dualRobotOrigin = false;
@Schema(description = "加液机械臂是否忽略自检")
private boolean dualRobotOriginIsIgnore = false;
}

2
src/main/java/com/iflytop/sgs/app/model/dto/PauseCraftsDto.java → src/main/java/com/iflytop/sgs/app/model/dto/PauseCraftsDTO.java
View File

@ -6,7 +6,7 @@ import lombok.Data;
@Schema(description = "暂停执行工艺")
@Data
public class PauseCraftsDto {
public class PauseCraftsDTO {
@NotNull
@Schema(description = "加热区id")
private String heatId;

23
src/main/java/com/iflytop/sgs/app/model/dto/SetIgnoreItemDTO.java
View File

@ -0,0 +1,23 @@
package com.iflytop.sgs.app.model.dto;
import com.iflytop.sgs.common.enums.SystemConfigCode;
import io.swagger.v3.oas.annotations.media.Schema;
import jakarta.validation.constraints.NotNull;
import lombok.Data;
/**
* 设置自检项忽略
*/
@Schema(description = "设置自检项忽略")
@Data
public class SetIgnoreItemDTO {
@NotNull
@Schema(description = "自检项", example = "ignore_door_self_test")
private SystemConfigCode ignoreSelfTestType;
@NotNull
@Schema(description = "是否忽略")
private Boolean ignore;
}

14
src/main/java/com/iflytop/sgs/app/service/api/SystemConfigService.java
View File

@ -79,12 +79,26 @@ public class SystemConfigService extends ServiceImpl<SystemConfigMapper, SystemC
SystemConfig systemConfig = this.getOne(new LambdaQueryWrapper<SystemConfig>().eq(SystemConfig::getCode, systemConfigCode.name()));
return Integer.valueOf(systemConfig.getValue());
}
public String getSystemConfigStringByCode(SystemConfigCode systemConfigCode) {
SystemConfig systemConfig = this.getOne(new LambdaQueryWrapper<SystemConfig>().eq(SystemConfig::getCode, systemConfigCode.name()));
return systemConfig.getValue();
}
public Double getSystemConfigDoubleByCode(SystemConfigCode systemConfigCode) {
SystemConfig systemConfig = this.getOne(new LambdaQueryWrapper<SystemConfig>().eq(SystemConfig::getCode, systemConfigCode.name()));
return Double.parseDouble(systemConfig.getValue());
}
public Boolean getSystemConfigBooleanByCode(SystemConfigCode systemConfigCode) {
SystemConfig systemConfig = this.getOne(new LambdaQueryWrapper<SystemConfig>().eq(SystemConfig::getCode, systemConfigCode.name()));
return Boolean.parseBoolean(systemConfig.getValue());
}
public boolean setSystemConfigByCode(SystemConfigCode systemConfigCode, String value) {
SystemConfig systemConfig = this.getOne(new LambdaQueryWrapper<SystemConfig>().eq(SystemConfig::getCode, systemConfigCode.name()));
systemConfig.setCode(value);
return this.updateById(systemConfig);
}
}

33
src/main/java/com/iflytop/sgs/app/service/device/SelfTestService.java
View File

@ -2,7 +2,11 @@ package com.iflytop.sgs.app.service.device;
import com.iflytop.sgs.app.model.bo.status.SelfTestState;
import com.iflytop.sgs.app.model.bo.status.device.HeatModuleState;
import com.iflytop.sgs.app.model.dto.SetIgnoreItemDTO;
import com.iflytop.sgs.app.model.vo.GetRequireOutTrayVO;
import com.iflytop.sgs.app.service.api.SystemConfigService;
import com.iflytop.sgs.common.enums.SystemConfigCode;
import jakarta.annotation.PostConstruct;
import lombok.Getter;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
@ -16,9 +20,22 @@ import java.util.List;
@RequiredArgsConstructor
public class SelfTestService {
private final DeviceStateService deviceStateService;
private final SystemConfigService systemConfigService;
@Getter
private final SelfTestState selfTestState = new SelfTestState();
@PostConstruct
private void init() {
Boolean doorIsIgnore = systemConfigService.getSystemConfigBooleanByCode(SystemConfigCode.ignore_door_self_test);
selfTestState.setDoorOriginIsIgnore(doorIsIgnore);
Boolean dualRobotIsIgnore = systemConfigService.getSystemConfigBooleanByCode(SystemConfigCode.ignore_dual_robot_self_test);
selfTestState.setDualRobotOriginIsIgnore(dualRobotIsIgnore);
Boolean transferXIsIgnore = systemConfigService.getSystemConfigBooleanByCode(SystemConfigCode.ignore_transfer_x_self_test);
selfTestState.setTransferXOriginIsIgnore(transferXIsIgnore);
Boolean transferZIsIgnore = systemConfigService.getSystemConfigBooleanByCode(SystemConfigCode.ignore_transfer_z_self_test);
selfTestState.setTransferZOriginIsIgnore(transferZIsIgnore);
}
/**
* 是否存在需要移除的托盘
*/
@ -31,4 +48,20 @@ public class SelfTestService {
}
return getRequireOutTrayList;
}
/**
* 设置自检项是否忽略
*/
public void setIgnoreItem(SetIgnoreItemDTO setIgnoreItemDTO) {
systemConfigService.setSystemConfigByCode(setIgnoreItemDTO.getIgnoreSelfTestType(), setIgnoreItemDTO.getIgnore().toString());
if(setIgnoreItemDTO.getIgnoreSelfTestType().equals(SystemConfigCode.ignore_door_self_test)) {
selfTestState.setDoorOriginIsIgnore(setIgnoreItemDTO.getIgnore());
} else if (setIgnoreItemDTO.getIgnoreSelfTestType().equals(SystemConfigCode.ignore_dual_robot_self_test)) {
selfTestState.setDualRobotOriginIsIgnore(setIgnoreItemDTO.getIgnore());
}else if(setIgnoreItemDTO.getIgnoreSelfTestType().equals(SystemConfigCode.ignore_transfer_x_self_test)){
selfTestState.setTransferXOriginIsIgnore(setIgnoreItemDTO.getIgnore());
}else if(setIgnoreItemDTO.getIgnoreSelfTestType().equals(SystemConfigCode.ignore_transfer_z_self_test)){
selfTestState.setTransferZOriginIsIgnore(setIgnoreItemDTO.getIgnore());
}
}
}

14
src/main/java/com/iflytop/sgs/common/enums/SystemConfigCode.java
View File

@ -3,7 +3,7 @@ package com.iflytop.sgs.common.enums;
import lombok.Getter;
/**
* 系统配置累
* 系统配置
*/
@Getter
public enum SystemConfigCode {
@ -15,11 +15,15 @@ public enum SystemConfigCode {
scale_vacant("空气转换系数"),
volume_clean("清洁时加水的量"),
number_reduce("抽液时机蠕动泵的转数"),
cycle_clean_max
("清洁最大次数"),
liquid_max_speed
("蠕动泵最大转速");
cycle_clean_max("清洁最大次数"),
liquid_max_speed("蠕动泵最大转速"),
ignore_door_self_test("忽略门自检"),
ignore_dual_robot_self_test("忽略加液升降自检"),
ignore_transfer_x_self_test("忽略转运机械臂X轴自检"),
ignore_transfer_z_self_test("忽略转运机械臂Z轴自检"),
;
private String description;

6
src/main/resources/sql/init.sql
View File

@ -56,7 +56,11 @@ VALUES ('1', '稀硝酸容量与泵行程比率', 'scale_thin', '1'),
('6', '空气转换系数', 'volume_clean', '1'),
('7', '清洁时加水的量 ml', 'number_reduce', '5'),
('8', '抽液时机蠕动泵的转数', 'cycle_clean_max', '8'),
('9', '蠕动泵最大转速限制', 'liquid_max_speed', '150');
('9', '蠕动泵最大转速限制', 'liquid_max_speed', '150'),
('10', '忽略门自检', 'ignore_door_self_test', 'false'),
('11', '忽略加液升降自检', 'ignore_dual_robot_self_test', 'false'),
('12', '忽略转运机械臂X轴自检', 'ignore_transfer_x_self_test', 'false'),
('13', '忽略转运机械臂Z轴自检', 'ignore_transfer_z_self_test', 'false');
-- 系统日志 表

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