baifengji
/
separate-gold-service
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

systemconfig增加预充和排空的距离

master
王梦远 2 months ago
parent
a1a6e915ba
commit
60c36dcee0
5 changed files with 216 additions and 241 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. BIN
      db/app.db
  2. 5
      src/main/java/com/iflytop/sgs/app/cmd/control/OutTrayCommand.java
  3. 437
      src/main/java/com/iflytop/sgs/app/service/crafts/CraftsStepService.java
  4. 10
      src/main/java/com/iflytop/sgs/common/enums/SystemConfigCode.java
  5. 5
      src/main/java/com/iflytop/sgs/common/enums/data/DevicePositionCode.java

BIN
db/app.db
View File

5
src/main/java/com/iflytop/sgs/app/cmd/control/OutTrayCommand.java
View File

@ -6,6 +6,7 @@ import com.iflytop.sgs.app.model.bo.Point3D;
import com.iflytop.sgs.app.model.bo.status.device.TrayState;
import com.iflytop.sgs.app.model.dto.CmdDTO;
import com.iflytop.sgs.app.service.api.DevicePositionService;
import com.iflytop.sgs.app.service.device.DeviceLightSoundService;
import com.iflytop.sgs.app.service.device.DeviceSensorService;
import com.iflytop.sgs.app.service.device.DeviceStateService;
import com.iflytop.sgs.app.service.device.module.HeatModuleService;
@ -14,6 +15,7 @@ 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.HeatModuleCode;
import com.iflytop.sgs.common.enums.cmd.CmdBeepMode;
import com.iflytop.sgs.common.enums.data.DevicePositionCode;
import com.iflytop.sgs.common.exception.AppException;
import com.iflytop.sgs.common.result.ResultCode;
@ -73,9 +75,6 @@ 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<TrayState> trayList = deviceStateService.getDeviceState().getTrays();
trayList.removeIf(TrayState::isInFeedArea);
deviceStateService.getDeviceState().getSolutionModule().setFeedAreaTrayStatus(false);
} finally {
deviceStateService.getCommandMutexState().get().setTransferCommandExecuting(false);
}

437
src/main/java/com/iflytop/sgs/app/service/crafts/CraftsStepService.java
View File

@ -7,6 +7,7 @@ import cn.hutool.json.JSONUtil;
import com.iflytop.sgs.app.core.CraftsDebugGenerator;
import com.iflytop.sgs.app.model.bo.CraftsStep;
import com.iflytop.sgs.app.model.bo.Point3D;
import com.iflytop.sgs.app.model.bo.status.device.TrayState;
import com.iflytop.sgs.app.model.bo.status.device.TubeState;
import com.iflytop.sgs.app.model.entity.Container;
import com.iflytop.sgs.app.model.entity.CraftMonitor;
@ -78,16 +79,15 @@ public class CraftsStepService {
}
/*
*
* 预热
* 退火区预热
* */
public boolean preHeat(HeatModuleCode heatModuleCode, JSONObject params, CraftMonitor craftMonitor) throws Exception {
// Double temperature = params.getDouble("temperature");
// log.info("工艺{},预热", heatModuleCode);
// heatModuleService.heatRodOpen(heatModuleCode, temperature);
// deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTargetTemperature(temperature);//设置加热温度
// deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatingType(HeatingType.heating);//加热中
// webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "开始预热", temperature));
Double temperature = params.getDouble("temperature");
log.info("工艺{},预热", HeatModuleCode.heat_module_04);
heatModuleService.heatRodOpen(HeatModuleCode.heat_module_04, temperature);
deviceStateService.getDeviceState().getHeatModuleByCode(HeatModuleCode.heat_module_04).setTargetTemperature(temperature);//设置加热温度
deviceStateService.getDeviceState().getHeatModuleByCode(HeatModuleCode.heat_module_04).setHeatingType(HeatingType.heating);//加热中
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(HeatModuleCode.heat_module_04.toString(), "退火区开始预热", temperature));
return true;
}
@ -96,22 +96,53 @@ public class CraftsStepService {
* */
public boolean addLiquid(HeatModuleCode heatModuleCode, JSONObject params, CraftMonitor craftMonitor) throws Exception {
try {
/*工艺监控*/
JSONObject result = new JSONObject();
List<Integer> finishColumns = new ArrayList<>();
result.set(ResultCode.SUCCESS.getCode(), finishColumns);
craftMonitor.setCurrentStepResult(String.valueOf(result));
craftMonitorService.saveOrUpdate(craftMonitor);//保存监控
craftMonitorService.saveOrUpdate(craftMonitor);
/*工艺监控结束*/
/*获取配置信息*/
deviceStateService.getDeviceState().getSolutionModule().setPumping(true);
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 liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液时托盘位置点
Point3D heatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(heatModuleCode);//获取目标加热模块托盘夹取点
Double drainDistance = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.drain_distance);//排空距离
Double preFillDistance = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.pre_fill_distance);//预充距离
Double preFillPosition = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownPreFillPositon).getPositon();
Integer containerId = params.getInt("containerId");//容器id
Double volume = params.getDouble("volume");//量
JSONArray jsonArray = params.getJSONArray("columns");//列数
//Assert.isTrue(containerId != null && volume != null, () -> new AppException(ResultCode.CRAFT_PARAMS_MISTAKE));//参数错误
Container container = containerService.getById(containerId);//容器id
Solutions solutions = solutionsService.getById(container.getSolutionId());//获取溶液
Integer channel = container.getChannel();//获取阀门通道
Double trayTubeHorizontalSpacingDistance = devicePositionService.getPosition(DevicePositionCode.trayTubeHorizontalSpacingDistance).getDistance(); //托盘试管水平间距
double scale = solutions.getDoubleScale();//根据溶液获取转换比
Double solutionModuleMotorDownInTubeAddPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeAddPositon).getPositon(); //加液模块电机下降进入试管加液位置
double addLiquidDistance = volume * scale;
/*获取参数结束*/
log.info("工艺{},申请转运模组并等待", heatModuleCode);
transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_liquid);//申请转运模组并等待
/*预充开始*/
log.info("工艺{},加液机械臂上升", heatModuleCode);
solutionModuleService.solutionMotorMoveZero();//加液机械臂上升
boolean heatTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(heatModuleCode);//获取加热区传感器状态
if (heatTrayExist) {//加热区存在托盘
solutionModuleService.liquidValveSwitch(SolutionCode.waste);//电磁阀对应通道打开
solutionModuleService.solutionMotorMove(preFillPosition);//加液机械臂下降至预充位置
solutionModuleService.liquidPumpMove(-drainDistance);//排空
solutionModuleService.liquidValveSwitchByChannel(channel);//电磁阀对应通道打开
solutionModuleService.liquidPumpMove(preFillDistance);//预充
solutionModuleService.solutionMotorMoveZero();//加液机械臂上升
/*预充结束*/
/*移动至加液区开始*/
boolean heatTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(heatModuleCode);//获取加热区试管架
if (heatTrayExist) {//加热区存在试管架
log.info("工艺{},加热区存在托盘", heatModuleCode);
log.info("工艺{},机械臂移动至加热区", heatModuleCode);
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "机械臂移动至加热区", heatModuleCode.name()));
@ -148,81 +179,49 @@ public class CraftsStepService {
deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setInSolutionPositon(true);//托盘状态
boolean clawTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.CLAW_TRAY_EXIST);//获取传感器状态
Assert.isTrue(clawTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//加液区无托盘
Integer containerId = params.getInt("containerId");//容器id
Double volume = params.getDouble("volume");//量
JSONArray jsonArray = params.getJSONArray("columns");//列数
//Assert.isTrue(containerId != null && volume != null, () -> new AppException(ResultCode.CRAFT_PARAMS_MISTAKE));//参数错误
Container container = containerService.getById(containerId);//容器id
Solutions solutions = solutionsService.getById(container.getSolutionId());//获取溶液
Integer channel = container.getChannel();//获取阀门通道
Integer currentChannel = deviceSensorService.readLiquidValvePosition();//获取当前阀门的状态
Double trayTubeHorizontalSpacingDistance = devicePositionService.getPosition(DevicePositionCode.trayTubeHorizontalSpacingDistance).getDistance(); //托盘试管水平间距
//double preFillDistance = solutions.getDoublePreDistance();//获取预充距离
Double drainDistance = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.drain_distance);//排空距离
Double preFillDistance = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.pre_fill_distance);//预充距离
Point3D liquidAreaTrayPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D(); //获取加液区上方托盘点位
if (!channel.equals(currentChannel)) {//判断是否与当前加酸的通道一致 不一致排空
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "电磁阀废液通道打开", SolutionCode.waste));
log.info("工艺{},电磁阀废液通道打开", heatModuleCode);
solutionModuleService.liquidValveSwitch(SolutionCode.waste);//废液通道打开
log.info("工艺{},排空", heatModuleCode);
solutionModuleService.liquidPumpMove(-drainDistance);//排空
}
double scale = solutions.getDoubleScale();//根据溶液获取转换比
solutionModuleService.liquidPumpMove(preFillDistance);//预充
double position = volume * scale;
Double solutionModuleMotorDownInTubeAddPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeAddPositon).getPositon(); //加液模块电机下降进入试管加液位置
log.info("工艺{},电磁阀对应通道打开", heatModuleCode);
solutionModuleService.liquidValveSwitchByChannel(channel);//电磁阀对应通道打开
if (jsonArray != null) {//断电恢复
for (int i = 0; i < jsonArray.size(); i++) {
int column = jsonArray.getInt(i);//列号
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "移动加液机械臂到指定试管", column));
double distance = Math.abs(column - 5) * trayTubeHorizontalSpacingDistance;//机械臂右移距离
log.info("工艺{},机械臂移动到试管位置{}", heatModuleCode, column);
transferModuleService.transferXMove(liquidAreaTrayPoint.getX() + distance);//机械臂移动到试管位置
log.info("工艺{},加液机械臂下降", heatModuleCode);
solutionModuleService.solutionMotorMove(solutionModuleMotorDownInTubeAddPositon);//加液机械臂下降
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "添加溶液", position));
log.info("工艺{},加液", heatModuleCode);
solutionModuleService.liquidPumpMove(position);//加液 position
log.info("工艺{},加液机械臂上升", heatModuleCode);
solutionModuleService.solutionMotorMoveZero();//加液机械臂上升
finishColumns.add(column);
result.set("columns", finishColumns);//添加到结果
craftMonitor.setCurrentStepResult(String.valueOf(result));
craftMonitor.setDeviceState(JSONUtil.toJsonStr(deviceStateService.getDeviceState()));
craftMonitorService.saveOrUpdate(craftMonitor);//保存到监控
}
/*移动至加液区结束*/
/*开始加液*/
List<Integer> columns = new ArrayList<>();
if (jsonArray != null) {
jsonArray.forEach(item -> {
columns.add(Integer.parseInt(item.toString()));
});
} else {
List<Integer> columns = new ArrayList<>();
TubeState[] tubes = deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).getTubes();
for (int i = 0; i < tubes.length; i++) {
if (tubes[i].isNeedAddSolution()) {
columns.add(tubes[i].getColumnNum());
for (TubeState tube : tubes) {
if (tube.isNeedAddSolution()) {
columns.add(tube.getColumnNum());
}
}
}
if (!columns.isEmpty()) {
for (int i = 0; i < columns.size(); i++) {
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "移动加液机械臂到指定试管", i));
double distance = Math.abs(columns.get(i) - 5) * trayTubeHorizontalSpacingDistance;//机械臂右移距离
log.info("工艺{},机械臂移动到试管位置{}", heatModuleCode, i);
transferModuleService.transferXMove(liquidAreaTrayPoint.getX() + distance);//机械臂移动到试管位置
transferModuleService.transferXMove(liquidAreaTrayPoint3D.getX() + distance);//机械臂移动到试管位置
log.info("工艺{},加液机械臂下降", heatModuleCode);
solutionModuleService.solutionMotorMove(solutionModuleMotorDownInTubeAddPositon);//加液机械臂下降
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "添加溶液", position));
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "添加溶液", addLiquidDistance));
log.info("工艺{},加液", heatModuleCode);
solutionModuleService.liquidPumpMove(position);//加液 position
solutionModuleService.liquidPumpMove(addLiquidDistance);//加液 position
log.info("工艺{},加液机械臂上升", heatModuleCode);
solutionModuleService.solutionMotorMoveZero();//加液机械臂上升
/*工艺监控开始*/
finishColumns.add(i);
result.set("columns", finishColumns);//添加到结果
craftMonitor.setCurrentStepResult(String.valueOf(result));
craftMonitor.setDeviceState(JSONUtil.toJsonStr(deviceStateService.getDeviceState()));
craftMonitorService.saveOrUpdate(craftMonitor);//保存到监控
craftMonitorService.saveOrUpdate(craftMonitor);
/*工艺监控结束*/
}
}
//移动至加热区
/*结束加液*/
/*移动至加热区*/
boolean heatModuleTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(heatModuleCode);//目标加热模块有无托盘
Assert.isTrue(!heatModuleTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_OCCUPIED));//提示被占用
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "机械臂移动至加热区", heatModuleCode));
@ -252,13 +251,16 @@ public class CraftsStepService {
public boolean reduceLiquid(HeatModuleCode heatModuleCode, JSONObject params, CraftMonitor craftMonitor) throws Exception {
try {
/*工艺监控开始*/
JSONObject result = new JSONObject();
List<Integer> finishColumns = new ArrayList<>();
craftMonitor.setCurrentStepResult(String.valueOf(result));
craftMonitorService.saveOrUpdate(craftMonitor);//保存到监控
craftMonitorService.saveOrUpdate(craftMonitor);
/*工艺监控结束*/
deviceStateService.getDeviceState().getSolutionModule().setPumping(true);
/*获取参数开始*/
Double height = params.getDouble("height");//抽液试管头部到试管底部的高度
JSONArray jsonArray = params.getJSONArray("columns");//列数
if (height > 50) {
throw new AppException(ResultCode.CRAFT_PARAMS_MISTAKE);
}
@ -266,6 +268,11 @@ public class CraftsStepService {
Point3D heatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(heatModuleCode);//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 liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液时托盘位置点
Double trayTubeHorizontalSpacingDistance = devicePositionService.getPosition(DevicePositionCode.trayTubeHorizontalSpacingDistance).getDistance();//获取托盘试管水平间距
double solutionModuleMotorDownInTubeExtPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeExtPositon).getDistance();//加液模块电机下降进入试管抽取位置
Double reduceDistance = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.reduce_distance);//抽液距离
/*获取参数结束*/
boolean heatTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(heatModuleCode);//获取加热区传感器状态
Assert.isTrue(heatTrayExist, () -> new AppException(ResultCode.CRAFT_TARGET_HEAT_NO_TRAY));//加热区无托盘
log.info("工艺{},申请转运模组并等待", heatModuleCode);
@ -290,68 +297,53 @@ public class CraftsStepService {
deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setInSolutionPositon(true);//托盘状态
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "电磁阀打开", SolutionCode.waste.name()));
log.info("工艺{},电磁阀对应通道打开", heatModuleCode);
/*抽液开始*/
solutionModuleService.liquidValveSwitch(SolutionCode.waste);//电磁阀对应通道打开
Double trayTubeHorizontalSpacingDistance = devicePositionService.getPosition(DevicePositionCode.trayTubeHorizontalSpacingDistance).getDistance();//获取托盘试管水平间距
double solutionModuleMotorDownInTubeExtPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeExtPositon).getDistance() + height;//加液模块电机下降进入试管抽取位置
Double drainDistance = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.drain_distance);//排空距离
JSONArray jsonArray = params.getJSONArray("columns");//列数
List<Integer> columns = new ArrayList<>();
if (jsonArray != null) {
for (int i = 0; i < jsonArray.size(); i++) {
int column = jsonArray.getInt(i);//列号
double distance = Math.abs(column - 5) * trayTubeHorizontalSpacingDistance;
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "机械臂移动至试管位置", column));
log.info("工艺{},机械臂移动到试管位置", heatModuleCode);
transferModuleService.transferXMove(liquidAreaTrayPoint3D.getX() + distance);//机械臂移动到试管位置
log.info("工艺{},加液模块下降进入试管", heatModuleCode);
solutionModuleService.solutionMotorMove(solutionModuleMotorDownInTubeExtPositon);//加液模块下降进入试管
log.info("工艺{},开始抽液", heatModuleCode);
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "开始抽液", -10));
solutionModuleService.liquidPumpMove(-drainDistance);//排空
log.info("工艺{},加液模块上升", heatModuleCode);
solutionModuleService.solutionMotorMoveZero();//加液模块上升
finishColumns.add(column);
result.set("columns", finishColumns);//添加到结果
craftMonitor.setCurrentStepResult(String.valueOf(result));
craftMonitor.setDeviceState(JSONUtil.toJsonStr(deviceStateService.getDeviceState()));
craftMonitorService.saveOrUpdate(craftMonitor);//保存到监控
}
jsonArray.forEach(item -> {
columns.add(Integer.parseInt(item.toString()));
});
} else {
List<Integer> columns = new ArrayList<>();
TubeState[] tubes = deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).getTubes();
for (int i = 0; i < tubes.length; i++) {
if (tubes[i].isNeedAddSolution()) {
columns.add(tubes[i].getColumnNum());
for (TubeState tube : tubes) {
if (tube.isNeedAddSolution()) {
columns.add(tube.getColumnNum());
}
}
for (int i = 0; i < columns.size(); i++) {
double distance = Math.abs(columns.get(i) - 5) * trayTubeHorizontalSpacingDistance;
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "机械臂移动至试管位置", i));
log.info("工艺{},机械臂移动至试管位置", heatModuleCode);
transferModuleService.transferXMove(liquidAreaTrayPoint3D.getX() + distance);//机械臂移动到试管位置
log.info("工艺{},加液模块下降进入试管", heatModuleCode);
solutionModuleService.solutionMotorMove(solutionModuleMotorDownInTubeExtPositon);//加液模块下降进入试管
log.info("工艺{},开始抽液", heatModuleCode);
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "开始抽液", -10));
solutionModuleService.liquidPumpMove(-10);//抽液 reduceNumber0.1
log.info("工艺{},加液模块上升", heatModuleCode);
solutionModuleService.solutionMotorMoveZero();//加液模块上升
finishColumns.add(i);
result.set("columns", finishColumns);//添加到结果
craftMonitor.setCurrentStepResult(String.valueOf(result));
craftMonitor.setDeviceState(JSONUtil.toJsonStr(deviceStateService.getDeviceState()));
craftMonitorService.saveOrUpdate(craftMonitor);//保存到监控
}
}
for (int i = 0; i < columns.size(); i++) {
double distance = Math.abs(columns.get(i) - 5) * trayTubeHorizontalSpacingDistance;
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "机械臂移动至试管位置", i));
log.info("工艺{},机械臂移动至试管位置", heatModuleCode);
transferModuleService.transferXMove(liquidAreaTrayPoint3D.getX() + distance);//机械臂移动到试管位置
log.info("工艺{},加液模块下降进入试管", heatModuleCode);
solutionModuleService.solutionMotorMove(solutionModuleMotorDownInTubeExtPositon + height);//加液模块下降进入试管
log.info("工艺{},开始抽液", heatModuleCode);
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "开始抽液", -10));
solutionModuleService.liquidPumpMove(-reduceDistance);//开始抽液
log.info("工艺{},加液模块上升", heatModuleCode);
solutionModuleService.solutionMotorMoveZero();//加液模块上升
/*工艺监控开始*/
finishColumns.add(i);
result.set("columns", finishColumns);//添加到结果
craftMonitor.setCurrentStepResult(String.valueOf(result));
craftMonitor.setDeviceState(JSONUtil.toJsonStr(deviceStateService.getDeviceState()));
craftMonitorService.saveOrUpdate(craftMonitor);//保存到监控
/*工艺监控结束*/
}
log.info("工艺{},加液模块上升至最高，移出试管", heatModuleCode);
solutionModuleService.solutionMotorMoveZero();//加液模块上升至最高，移出试管
/*抽液结束*/
/*移动至加热区开始*/
log.info("工艺{},移动至托盘至加液位置点", heatModuleCode);
transferModuleService.transferMove(liquidAreaTrayPoint3D);//移动至托盘至加液位置点
boolean heatModuleTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(heatModuleCode);//目标加热模块有无托盘
Assert.isTrue(!heatModuleTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_OCCUPIED));//提示被占用
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "机械臂移动至加热区", heatModuleCode));
log.info("工艺{},加液机械臂上升", heatModuleCode);
solutionModuleService.solutionMotorMoveZero();//加液机械臂上升
log.info("工艺{},将X轴移动至目标加热模块托盘夹取点", heatModuleCode);
transferModuleService.transferXMove(heatModuleTrayClawPoint3D.getX());//将X轴移动至目标加热模块托盘夹取点
log.info("工艺{},Z轴下降至夹取点，使托盘落入石墨加热盘", heatModuleCode);
@ -360,9 +352,10 @@ public class CraftsStepService {
transferModuleService.transferXMoveBy(transferModuleXPickTrayMoveDistance);//X轴移出卡槽
log.info("工艺{},Z轴抬升至最高", heatModuleCode);
transferModuleService.transferZMoveZero();//Z轴抬升至最高
/*移动至加热区结束*/
deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayStatus(true);//加热区托盘状态
deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setInHeatModule(true);//托盘状态
deviceStateService.getDeviceState().getSolutionModule().setPumping(false);//正在加液
deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setInSolutionPositon(false);//托盘状态
return true;
} finally {
@ -377,9 +370,12 @@ public class CraftsStepService {
* 加热
* */
public boolean heat(HeatModuleCode heatModuleCode, JSONObject params, CraftMonitor craftMonitor) throws Exception {
/*工艺监控清理上步的记录*/
JSONObject result = new JSONObject();
craftMonitor.setCurrentStepResult(String.valueOf(result));
craftMonitorService.saveOrUpdate(craftMonitor);
/*工艺监控清理上步的记录*/
Double temperature = params.getDouble("temperature");//温度
Integer time = params.getInt("time");//秒
//Assert.isTrue(temperature != null && time != null, () -> new AppException(ResultCode.CRAFT_PARAMS_MISTAKE));//参数错误
@ -400,14 +396,17 @@ public class CraftsStepService {
delay(60);
cycle--;
clock = clock + 60;
/*保存到工艺监控*/
result.set("time", clock);//添加到结果
craftMonitor.setCurrentStepResult(String.valueOf(result));
craftMonitor.setDeviceState(JSONUtil.toJsonStr(deviceStateService.getDeviceState()));
craftMonitorService.saveOrUpdate(craftMonitor);//保存到监控
/*保存到工艺监控*/
}
delay(seconds);
log.info("工艺{},加热结束", heatModuleCode);
craftMonitor.setCurrentStepResult(String.valueOf(result));
craftMonitor.setDeviceState(JSONUtil.toJsonStr(deviceStateService.getDeviceState()));
craftMonitorService.saveOrUpdate(craftMonitor);//保存到监控
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "加热结束，持续时间", time));
return true;
@ -418,11 +417,13 @@ public class CraftsStepService {
* */
public boolean clean(HeatModuleCode heatModuleCode, JSONObject params, CraftMonitor craftMonitor) throws Exception {
try {
/*保存到监控开始*/
JSONObject result = new JSONObject();
List<Integer> finishColumns = new ArrayList<>();
craftMonitor.setCurrentStepResult(String.valueOf(result));
craftMonitorService.saveOrUpdate(craftMonitor);//保存到监控
/*保存到监控结束*/
/*获取参数开始*/
deviceStateService.getDeviceState().getSolutionModule().setPumping(true);
Double volume = params.getDouble("volume") == null ? 2.0 : params.getDouble("volume");//加水量
Integer cycle = params.getInt("cycle");//次数
@ -435,13 +436,19 @@ public class CraftsStepService {
Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液时托盘位置点
Double trayTubeHorizontalSpacingDistance = devicePositionService.getPosition(DevicePositionCode.trayTubeHorizontalSpacingDistance).getDistance();//获取托盘试管水平间距
Double solutionModuleMotorDownInTubeExtPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeExtPositon).getPositon();//加液模块电机下降进入试管抽取位置
Solutions solutions = solutionsService.getByCode(SolutionCode.water.name());//获取酸
double cleanWaterVolume = volume * solutions.getDoubleScale();//清洁时加水的量
double pumpPosition = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.number_reduce);//抽液时蠕动泵移动
Double solutionModuleMotorDownInTubeAddPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeAddPositon).getPositon();//加液模块电机下降进入试管加液位置
Double waterScale = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.water);//蒸馏水的系数
double cleanWaterDistance = volume * waterScale;//清洁时泵的移动距离
Double reduceDistance = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.reduce_distance);//抽液距离
Double drainDistance = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.drain_distance);//排空距离
Double preFillDistance = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.pre_fill_distance);//过量预充距离
Double preFillPosition = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownPreFillPositon).getPositon();//机械臂预充时下降距离
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "机械臂移动至加热区", heatModuleTrayClawPoint3D));
/*获取参数结束*/
log.info("工艺{},申请转运模组并等待", heatModuleCode);
transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_liquid);//申请转运模组并等待
log.info("工艺{},加液机械臂上升", heatModuleCode);
solutionModuleService.solutionMotorMoveZero();//加液机械臂上升
log.info("工艺{},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", heatModuleCode);
@ -456,58 +463,70 @@ public class CraftsStepService {
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "机械臂移动至加液区", liquidAreaTrayPoint3D));
deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayStatus(false);//加热区托盘状态
deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setInHeatModule(false);//托盘状态
deviceStateService.getDeviceState().getSolutionModule().setPumping(true);//正在加液
deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setInSolutionPositon(true);//托盘状态
deviceStateService.getDeviceState().getSolutionModule().setPumping(true);
transferModuleService.transferMove(liquidAreaTrayPoint3D);//移动至加液时托盘位置点
//排空
Double drainDistance = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.drain_distance);//排空距离
/*列号开始*/
List<Integer> columns = new ArrayList<>();
TubeState[] tubes = deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).getTubes();
for (TubeState tube : tubes) {
if (tube.isNeedAddSolution()) {
columns.add(tube.getColumnNum());
}
}
/*列号结束*/
/*抽液开始*/
solutionModuleService.liquidValveSwitch(SolutionCode.waste);//电磁阀对应通道打开
solutionModuleService.liquidPumpMove(-drainDistance);//蠕动泵排空
//预充
Double preFillDistance = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.pre_fill_distance);//预充距离
JSONArray jsonArray = params.getJSONArray("columns");//列数
if (jsonArray != null) {
for (int j = 0; j < jsonArray.size(); j++) {
int column = jsonArray.getInt(j);
double distance = Math.abs(column - 5) * trayTubeHorizontalSpacingDistance;//x轴移动距离
for (int j = 0; j < columns.size(); j++) {
double distance = Math.abs(columns.get(j) - 5) * trayTubeHorizontalSpacingDistance;//x轴移动距离
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "机械臂移动到试管位置", j));
log.info("工艺{},机械臂移动到试管位置", heatModuleCode);
transferModuleService.transferXMove(liquidAreaTrayPoint3D.getX() + distance);//机械臂移动到试管位置
log.info("工艺{},加液模块下降进入试管抽取位置", heatModuleCode);
solutionModuleService.solutionMotorMove(solutionModuleMotorDownInTubeExtPositon + height);//加液模块下降进入试管抽取位置
log.info("工艺{},电磁阀对应通道打开", heatModuleCode);
log.info("工艺{},蠕动泵抽水", heatModuleCode);
solutionModuleService.liquidPumpMove(-reduceDistance);//蠕动泵抽水
log.info("工艺{},加液模块上升至最高，移出试管", heatModuleCode);
solutionModuleService.solutionMotorMoveZero();//加液模块上升至最高，移出试管
}
/*抽液结束*/
/*预充开始*/
log.info("工艺{},清洗-预充开始", heatModuleCode);
solutionModuleService.liquidPumpMove(-drainDistance);//排空
solutionModuleService.solutionMotorMove(preFillPosition);//加液机械臂下降至预充位置
solutionModuleService.liquidValveSwitch(SolutionCode.water);//电磁阀对应通道打开
solutionModuleService.liquidPumpMove(preFillDistance);//预充
solutionModuleService.solutionMotorMoveZero();//加液机械臂上升
/*预充结束*/
/*清洗开始*/
for (int i = 0; i < cycle; i++) {
/*加*/
log.info("工艺{},电磁阀蒸馏水通道打开", heatModuleCode);
solutionModuleService.liquidValveSwitch(SolutionCode.water);//电磁阀对应通道打开
for (int j = 0; j < columns.size(); j++) {
double distance = Math.abs(columns.get(j) - 5) * trayTubeHorizontalSpacingDistance;//x轴移动距离
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "机械臂移动到试管位置", j));
log.info("工艺{},机械臂移动到试管位置", heatModuleCode);
transferModuleService.transferXMove(liquidAreaTrayPoint3D.getX() + distance);//机械臂移动到试管位置
log.info("工艺{},加液模块下降进入试管抽取位置", heatModuleCode);
solutionModuleService.solutionMotorMove(solutionModuleMotorDownInTubeExtPositon + height);//加液模块下降进入试管抽取位置
for (int i = 0; i < cycle; i++) {
log.info("工艺{},电磁阀对应通道打开", heatModuleCode);
solutionModuleService.liquidValveSwitch(SolutionCode.water);//电磁阀对应通道打开
solutionModuleService.liquidPumpMove(preFillDistance);//预充
Thread.sleep(500);
log.info("工艺{},蠕动泵加水", heatModuleCode);
solutionModuleService.liquidPumpMove(cleanWaterVolume);//蠕动泵加水
log.info("工艺{},电磁阀对应通道打开", heatModuleCode);
solutionModuleService.liquidValveSwitch(SolutionCode.waste);//电磁阀对应通道打开
Thread.sleep(500);
log.info("工艺{},蠕动泵抽水", heatModuleCode);
solutionModuleService.liquidPumpMove(-pumpPosition);//蠕动泵抽水
solutionModuleService.liquidPumpMove(-drainDistance);//蠕动泵排空
}
finishColumns.add(column);
result.set("columns", finishColumns);//添加到结果
craftMonitor.setCurrentStepResult(String.valueOf(result));
craftMonitor.setDeviceState(JSONUtil.toJsonStr(deviceStateService.getDeviceState()));
craftMonitorService.saveOrUpdate(craftMonitor);//保存到监控
solutionModuleService.solutionMotorMove(solutionModuleMotorDownInTubeAddPositon);//加液模块下降进入试管加液位置
log.info("工艺{},蠕动泵加水", heatModuleCode);
solutionModuleService.liquidPumpMove(cleanWaterDistance);//蠕动泵加水
log.info("工艺{},加液模块上升至最高，移出试管", heatModuleCode);
solutionModuleService.solutionMotorMoveZero();//加液模块上升至最高，移出试管
}
} else {
List<Integer> columns = new ArrayList<>();
TubeState[] tubes = deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).getTubes();
for (int i = 0; i < tubes.length; i++) {
if (tubes[i].isNeedAddSolution()) {
columns.add(tubes[i].getColumnNum());
}
}
log.info("工艺{},电磁阀废液通道打开", heatModuleCode);
Thread.sleep(1000);
/*抽*/
solutionModuleService.liquidValveSwitch(SolutionCode.waste);//电磁阀对应通道打开
for (int j = 0; j < columns.size(); j++) {
double distance = Math.abs(columns.get(j) - 5) * trayTubeHorizontalSpacingDistance;//x轴移动距离
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "机械臂移动到试管位置", j));
@ -515,30 +534,22 @@ public class CraftsStepService {
transferModuleService.transferXMove(liquidAreaTrayPoint3D.getX() + distance);//机械臂移动到试管位置
log.info("工艺{},加液模块下降进入试管抽取位置", heatModuleCode);
solutionModuleService.solutionMotorMove(solutionModuleMotorDownInTubeExtPositon + height);//加液模块下降进入试管抽取位置
for (int i = 0; i < cycle; i++) {
log.info("工艺{},电磁阀对应通道打开", heatModuleCode);
solutionModuleService.liquidValveSwitch(SolutionCode.water);//电磁阀对应通道打开
solutionModuleService.liquidPumpMove(preFillDistance);//预充
Thread.sleep(500);
log.info("工艺{},蠕动泵加水", heatModuleCode);
solutionModuleService.liquidPumpMove(cleanWaterVolume);//蠕动泵加水
log.info("工艺{},电磁阀对应通道打开", heatModuleCode);
solutionModuleService.liquidValveSwitch(SolutionCode.waste);//电磁阀对应通道打开
Thread.sleep(500);
log.info("工艺{},蠕动泵抽水", heatModuleCode);
solutionModuleService.liquidPumpMove(-pumpPosition);//蠕动泵抽水
solutionModuleService.liquidPumpMove(-drainDistance);//蠕动泵排空
}
finishColumns.add(j);
result.set("columns", finishColumns);//添加到结果
craftMonitor.setCurrentStepResult(String.valueOf(result));
craftMonitor.setDeviceState(JSONUtil.toJsonStr(deviceStateService.getDeviceState()));
craftMonitorService.saveOrUpdate(craftMonitor);//保存到监控
log.info("工艺{},电磁阀对应通道打开", heatModuleCode);
log.info("工艺{},蠕动泵抽水", heatModuleCode);
solutionModuleService.liquidPumpMove(-reduceDistance);//抽水
log.info("工艺{},加液模块上升至最高，移出试管", heatModuleCode);
solutionModuleService.solutionMotorMoveZero();//加液模块上升至最高，移出试管
}
result.set("cycle", i+1);//添加到结果
craftMonitor.setCurrentStepResult(String.valueOf(result));
craftMonitor.setDeviceState(JSONUtil.toJsonStr(deviceStateService.getDeviceState()));
craftMonitorService.saveOrUpdate(craftMonitor);//保存到监控
}
/*清洗结束*/
log.info("工艺{},将X轴移动至目标加热模块托盘夹取点", heatModuleCode);
transferModuleService.transferXMove(heatModuleTrayClawPoint3D.getX());//将X轴移动至目标加热模块托盘夹取点
log.info("工艺{},Z轴下降至夹取点，使托盘落入石墨加热盘", heatModuleCode);
@ -563,9 +574,13 @@ public class CraftsStepService {
* 烘干
* */
public boolean dry(HeatModuleCode heatModuleCode, JSONObject params, CraftMonitor craftMonitor) throws Exception {
/*工艺监控清理上步的记录*/
JSONObject result = new JSONObject();
craftMonitor.setCurrentStepResult(String.valueOf(result));
craftMonitorService.saveOrUpdate(craftMonitor);
/*工艺监控清理上步的记录*/
Double temperature = params.getDouble("temperature");//秒
Integer time = params.getInt("time");//秒
//Assert.isTrue(temperature != null && time != null, () -> new AppException(ResultCode.CRAFT_PARAMS_MISTAKE));//参数错误
@ -616,10 +631,10 @@ public class CraftsStepService {
Double feedTemperature = params.getDouble("feedTemperature");//下料温度
Integer time = params.getInt("time");//秒
//Assert.isTrue(temperature != null && time != null, () -> new AppException(ResultCode.CRAFT_PARAMS_MISTAKE));//参数错误
boolean heatModuleTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(heatModuleCode);//加热模块有无托盘
Assert.isTrue(heatModuleTrayExist, () -> new AppException(ResultCode.CRAFT_TARGET_HEAT_NO_TRAY));//提示无托盘
boolean heatModuleTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(heatModuleCode);
Assert.isTrue(heatModuleTrayExist, () -> new AppException(ResultCode.CRAFT_TARGET_HEAT_NO_TRAY));//提示加热模块无托盘
while (deviceSensorService.getTrayStateByHeatModuleCode(HeatModuleCode.heat_module_04)) {//判断退火区是否被占用
delay(10);//等待30秒
delay(10);//等待10秒
}
Point3D annealTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(HeatModuleCode.heat_module_04);//获取退火区托盘夹取点
Point3D heatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(heatModuleCode);//获取目标加热模块托盘夹取点
@ -715,7 +730,7 @@ public class CraftsStepService {
heatModuleService.fanStart(heatModuleCode);//散热打开
deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setFanOpen(true); //设置加热区风扇打开
while (!codeIsSuitable(heatModuleCode, 100.0)) {
delay(3);
delay(5);
}
log.info("工艺{},散热关闭", heatModuleCode);
heatModuleService.fanClose(heatModuleCode);//散热关闭
@ -766,54 +781,8 @@ public class CraftsStepService {
*/
public void finish(HeatModuleCode heatModuleCode, CraftMonitor craftMonitor) throws Exception {
craftMonitorService.removeById(craftMonitor.getId());
//moveToFeedModule(heatModuleCode);
}
public void moveToFeedModule(HeatModuleCode heatModuleCode) throws Exception {
try {
boolean feedTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//上料区托盘状态
while (feedTrayExist) {
deviceLightSoundService.openBeep(CmdBeepMode.info);
delay(2);
deviceLightSoundService.closeBeep();
}
Point3D heatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(heatModuleCode);//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
transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_feed);//获取转运模组锁
log.info("工艺{},加液机械臂上升", heatModuleCode);
solutionModuleService.solutionMotorMoveZero();//加液机械臂上升
log.info("工艺{},Z轴抬升至最高", heatModuleCode);
transferModuleService.transferZMoveZero();//Z轴抬升至最高
log.info("工艺{},将X轴移动至目标加热模块托盘夹取点", heatModuleCode);
transferModuleService.transferXMove(heatModuleTrayClawPoint3D.getX() + transferModuleXPickTrayMoveDistance);//将X轴移动至目标加热模块托盘夹取点
log.info("工艺{},Z轴下降至夹取点", heatModuleCode);
transferModuleService.transferZMove(heatModuleTrayClawPoint3D.getZ());//Z轴下降至夹取点，使托盘落入石墨加热盘
log.info("工艺{},X轴移出卡槽", heatModuleCode);
transferModuleService.transferXMoveBy(-transferModuleXPickTrayMoveDistance);//X轴移出卡槽
log.info("工艺{},Z轴抬升至最高", heatModuleCode);
transferModuleService.transferZMoveZero();//Z轴抬升至最高
deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayStatus(false);//加热区托盘状态
deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setInHeatModule(false);//托盘状态
log.info("工艺{},将X轴移动至上料区托盘夹取点", heatModuleCode);
transferModuleService.transferXMove(feedAreaTrayPoint3D.getX());//将X轴移动至上料区托盘夹取点 + 进出卡槽移动距离
log.info("工艺{},Z轴下降至夹取点", heatModuleCode);
transferModuleService.transferZMove(feedAreaTrayPoint3D.getZ());//Z轴下降至夹取点，使托盘落入石墨加热盘
log.info("工艺{},X轴进入卡槽", heatModuleCode);
transferModuleService.transferXMoveBy(transferModuleXPickTrayMoveDistance);//X轴进入卡槽
log.info("工艺{},Z轴抬升至最高", heatModuleCode);
transferModuleService.transferZMoveZero();//Z轴抬升至最高
log.info("工艺{},转运模组释放", heatModuleCode);
transferModuleService.releaseTransferModule();//转运模组释放
deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setInFeedArea(true);//托盘状态
deviceLightSoundService.openBeep(CmdBeepMode.info);
delay(2);
deviceLightSoundService.closeBeep();
} finally {
transferModuleService.releaseTransferModule();//转运模组释放
}
List<TrayState> trayList = deviceStateService.getDeviceState().getTrays();
trayList.removeIf((tray)->tray.getHeatModuleCode().equals(heatModuleCode));
}

10
src/main/java/com/iflytop/sgs/common/enums/SystemConfigCode.java
View File

@ -7,11 +7,15 @@ import lombok.Getter;
*/
@Getter
public enum SystemConfigCode {
water("水加液系数"),
thick("浓硝酸加液系数"),
thin("稀硝酸加液系数"),
back_flow_distance("稀硝酸加液系数"),
pre_fill_distance("预充距离"),
drain_distance("排空距离"),
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"),
reduce_distance("过量抽液距离"),
cycle_clean_max("允许的最大清洁次数"),
liquid_max_speed("蠕动泵最大转速限制"),
ignore_door_self_test("忽略门自检"),
ignore_dual_robot_self_test("忽略加液升降自检"),

5
src/main/java/com/iflytop/sgs/common/enums/data/DevicePositionCode.java
View File

@ -18,7 +18,10 @@ public enum DevicePositionCode {
transferModuleXPickTrayMoveDistance(DevicePositionType.DISTANCE, "转运模块X轴拿取托盘进出卡槽移动距离"),
////////////////位置
/**
* 加液模块电机下降进入试管加液位置
*/
solutionModuleMotorDownPreFillPositon(DevicePositionType.POSITION, "加液模块电机下降进入预充位置"),
/**
* 加液模块电机下降进入试管加液位置
*/

Write Preview
Loading…
Cancel
Save