From 5f28283ad9c7cbf66323a9e13d108df74428ca18 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=8E=8B?= <1063331231@qq.com> Date: Wed, 11 Jun 2025 17:03:51 +0800 Subject: [PATCH] =?UTF-8?q?=E5=BD=93=E5=89=8D=E7=94=B3=E8=AF=B7=E5=88=B0?= =?UTF-8?q?=E6=9C=BA=E6=A2=B0=E8=87=82=E7=9A=84=E6=A0=87=E8=AF=86?= 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 | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) 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 a39f546..a8e86dd 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 @@ -56,13 +56,14 @@ public class OutTrayCommand extends BaseCommandHandler { } 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 deviceStateService.getCommandMutexState().get().setTransferCommandExecuting(true); return runAsync(() -> { try { 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 - Point3D targetHeatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(targetHeatModuleCode);//获取目标加热模块托盘夹取点 + deviceStateService.getDeviceState().getTrayByHeatModuleCode(targetHeatModuleCode).setUseArm(true);//使用机械臂标志 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 @@ -75,8 +76,11 @@ public class OutTrayCommand extends BaseCommandHandler { deviceStateService.getDeviceState().getTransferModule().setTrayStatus(false);//设定托盘夹爪为FALSE deviceStateService.getDeviceState().getHeatModuleByCode(targetHeatModuleCode).setTrayStatus(false);//设定目标加热模块托盘状态 //deviceStateService.getDeviceState().getSolutionModule().setFeedAreaTrayStatus(true);//设定上料区托盘状态 + List trayList = deviceStateService.getDeviceState().getTrays(); + trayList.removeIf((tray) -> tray.getHeatModuleCode().equals(targetHeatModuleCode)); } finally { deviceStateService.getCommandMutexState().get().setTransferCommandExecuting(false); + deviceStateService.getDeviceState().getTrayByHeatModuleCode(targetHeatModuleCode).setUseArm(false);//使用机械臂标志 } }); }