diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/AnnealStartCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/AnnealStartCommand.java index e901e31..8aef808 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/AnnealStartCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/AnnealStartCommand.java @@ -1,5 +1,6 @@ package com.iflytop.sgs.app.cmd.control; +import cn.hutool.core.lang.Assert; import cn.hutool.json.JSONArray; import com.iflytop.sgs.app.core.BaseCommandHandler; import com.iflytop.sgs.app.model.bo.status.device.HeatModuleState; @@ -20,20 +21,24 @@ import java.util.concurrent.CompletableFuture; @Slf4j @Component @RequiredArgsConstructor -@CommandMapping("heat_start")//业务指令注解 +@CommandMapping("anneal_start")//业务指令注解 public class AnnealStartCommand extends BaseCommandHandler { private final HeatModuleService heatModuleService; private final DeviceStateService deviceStateService; @Override public CompletableFuture handle(CmdDTO cmdDTO) { - JSONArray heatIdJsonArray = cmdDTO.getJSONArrayParam("heatId"); + JSONArray heatIdJsonArray = cmdDTO.getJSONArrayParam("heatModuleCode"); + return runAsync(() -> { for (int i = 0; i < heatIdJsonArray.size(); i++) { //获取当前加热区 String heatId = heatIdJsonArray.getStr(i); HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId); + //获取当前加热区状态 HeatModuleState heatModuleState = deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId); + //判断是否可以进行退火 + Assert.isTrue(heatModuleState.getTrayStatus() == 1, heatModuleId + "加热区无托盘"); //设置加热区目标温度 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId).setTargetTemperature(heatModuleState.getAnnealTemperature()); //从系统状态中获取指定加热区设定的退火温度数值 diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/AnnealStopCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/AnnealStopCommand.java index a398dae..c44d4b2 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/AnnealStopCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/AnnealStopCommand.java @@ -1,7 +1,9 @@ package com.iflytop.sgs.app.cmd.control; +import cn.hutool.core.lang.Assert; import cn.hutool.json.JSONArray; import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.bo.status.device.HeatModuleState; import com.iflytop.sgs.app.model.dto.CmdDTO; import com.iflytop.sgs.app.service.device.DeviceStateService; import com.iflytop.sgs.app.service.device.module.HeatModuleService; @@ -19,7 +21,7 @@ import java.util.concurrent.CompletableFuture; @Slf4j @Component @RequiredArgsConstructor -@CommandMapping("heat_start")//业务指令注解 +@CommandMapping("anneal_stop")//业务指令注解 public class AnnealStopCommand extends BaseCommandHandler { private final HeatModuleService heatModuleService; private final DeviceStateService deviceStateService; @@ -29,8 +31,13 @@ public class AnnealStopCommand extends BaseCommandHandler { JSONArray heatIdJsonArray = cmdDTO.getJSONArrayParam("heatId"); return runAsync(() -> { for (int i = 0; i < heatIdJsonArray.size(); i++) { + //获取当前加热区 String heatId = heatIdJsonArray.getStr(i); HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId); + //获取当前加热区状态 + HeatModuleState heatModuleState = deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId); + //判断当前加热区是否处于退火状态 + Assert.isTrue(heatModuleState.isAnnealing(), heatModuleId + "加热区目前不在退火状态"); //关闭加热 heatModuleService.heatRodClose(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId); //设置加热区状态 退火结束 diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/DoorCloseCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/DoorCloseCommand.java index fae28e8..8813f47 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/DoorCloseCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/DoorCloseCommand.java @@ -1,6 +1,8 @@ package com.iflytop.sgs.app.cmd.control; +import cn.hutool.core.lang.Assert; import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.bo.status.device.DoorModuleState; import com.iflytop.sgs.app.model.dto.CmdDTO; import com.iflytop.sgs.app.service.device.DeviceStateService; import com.iflytop.sgs.app.service.device.module.DoorModuleService; @@ -24,9 +26,14 @@ public class DoorCloseCommand extends BaseCommandHandler { @Override public CompletableFuture handle(CmdDTO cmdDTO) { + //获取当前的门状态 + DoorModuleState doorModuleState=deviceStateService.getDeviceState().getDoorModule(); + //判断当前门的状态 + Assert.isTrue(doorModuleState.isOpen(),"门已处于关闭状态"); + return runAsync(() -> { - //门电机回原点 - doorModuleService.doorOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand()); + //门电机回0点 + doorModuleService.doorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(),0); //将门状态设置为false deviceStateService.getDeviceState().getDoorModule().setOpen(false); }); diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/DoorOpenCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/DoorOpenCommand.java index e7fd3a5..8c5cb75 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/DoorOpenCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/DoorOpenCommand.java @@ -1,6 +1,8 @@ package com.iflytop.sgs.app.cmd.control; +import cn.hutool.core.lang.Assert; import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.bo.status.device.DoorModuleState; import com.iflytop.sgs.app.model.dto.CmdDTO; import com.iflytop.sgs.app.service.api.DevicePositionService; import com.iflytop.sgs.app.service.device.DeviceStateService; @@ -27,6 +29,11 @@ public class DoorOpenCommand extends BaseCommandHandler { @Override public CompletableFuture handle(CmdDTO cmdDTO) { + //获取当前的门状态 + DoorModuleState doorModuleState=deviceStateService.getDeviceState().getDoorModule(); + //判断当前门的状态 + Assert.isTrue(!doorModuleState.isOpen(),"门已处于打开状态"); + return runAsync(() -> { //从数据库获取开门距离 Double doorOpenDistance = devicePositionService.getPosition(DevicePositionCode.doorOpen).getDistance(); diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/DryStartCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/DryStartCommand.java index 27de06f..57d7114 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/DryStartCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/DryStartCommand.java @@ -1,5 +1,6 @@ package com.iflytop.sgs.app.cmd.control; +import cn.hutool.core.lang.Assert; import cn.hutool.json.JSONArray; import com.iflytop.sgs.app.core.BaseCommandHandler; import com.iflytop.sgs.app.model.bo.status.device.HeatModuleState; @@ -20,7 +21,7 @@ import java.util.concurrent.CompletableFuture; @Slf4j @Component @RequiredArgsConstructor -@CommandMapping("heat_start")//业务指令注解 +@CommandMapping("dry_start")//业务指令注解 public class DryStartCommand extends BaseCommandHandler { private final HeatModuleService deviceCommandUtilService; private final DeviceStateService deviceStateService; @@ -34,11 +35,13 @@ public class DryStartCommand extends BaseCommandHandler { String heatId = heatIdJsonArray.getStr(i); HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId); HeatModuleState heatModuleState = deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId); + //判断有无托盘 + Assert.isTrue(heatModuleState.getTrayStatus() == 1, heatModuleId + "加热区无托盘"); //设置加热区目标温度 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId).setTargetTemperature(heatModuleState.getDryTemperature()); //从系统状态中获取指定加热区设定的烘干温度数值 double temperature = deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId).getDryTemperature(); - //开启退火 + //开启烘干 deviceCommandUtilService.heatRodOpen(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, temperature); //设置加热区状态 正在烘干 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId).setDrying(true); diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/DryStopCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/DryStopCommand.java index 800d5a8..39e3e5a 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/DryStopCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/DryStopCommand.java @@ -1,7 +1,9 @@ package com.iflytop.sgs.app.cmd.control; +import cn.hutool.core.lang.Assert; import cn.hutool.json.JSONArray; import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.bo.status.device.HeatModuleState; import com.iflytop.sgs.app.model.dto.CmdDTO; import com.iflytop.sgs.app.service.device.DeviceStateService; import com.iflytop.sgs.app.service.device.module.HeatModuleService; @@ -19,7 +21,7 @@ import java.util.concurrent.CompletableFuture; @Slf4j @Component @RequiredArgsConstructor -@CommandMapping("heat_start")//业务指令注解 +@CommandMapping("dry_stop")//业务指令注解 public class DryStopCommand extends BaseCommandHandler { private final HeatModuleService heatModuleService; private final DeviceStateService deviceStateService; @@ -31,9 +33,13 @@ public class DryStopCommand extends BaseCommandHandler { for (int i = 0; i < heatIdJsonArray.size(); i++) { String heatId = heatIdJsonArray.getStr(i); HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId); - //关闭加热 + //获取当前加热区状态 + HeatModuleState heatModuleState = deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId); + //判断当前加热区是否处于烘干状态 + Assert.isTrue(heatModuleState.isDrying(), heatModuleId + "加热区目前不在烘干状态"); + //关闭烘干 heatModuleService.heatRodClose(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId); - //设置加热区状态 退火结束 + //设置加热区状态 烘干结束 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId).setDrying(false); } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/FanStartCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/FanStartCommand.java index 076769f..4f2adfb 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/FanStartCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/FanStartCommand.java @@ -1,7 +1,9 @@ package com.iflytop.sgs.app.cmd.control; +import cn.hutool.core.lang.Assert; import cn.hutool.json.JSONArray; import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.bo.status.device.HeatModuleState; import com.iflytop.sgs.app.model.dto.CmdDTO; import com.iflytop.sgs.app.service.device.DeviceStateService; import com.iflytop.sgs.app.service.device.module.HeatModuleService; @@ -31,6 +33,10 @@ public class FanStartCommand extends BaseCommandHandler { for (int i = 0; i < heatIdJsonArray.size(); i++) { String heatId = heatIdJsonArray.getStr(i); HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId); + //获取当前加热区状态 + HeatModuleState heatModuleState = deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId); + //判断风扇状态 + Assert.isTrue(heatModuleState.isFanOpen(),heatModuleId+"加热区 风扇已打开"); heatModuleService.fanStart(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId); deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId).setFanOpen(true); } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/FanStopCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/FanStopCommand.java index a72d1a8..682f432 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/FanStopCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/FanStopCommand.java @@ -1,7 +1,9 @@ package com.iflytop.sgs.app.cmd.control; +import cn.hutool.core.lang.Assert; import cn.hutool.json.JSONArray; import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.bo.status.device.HeatModuleState; import com.iflytop.sgs.app.model.dto.CmdDTO; import com.iflytop.sgs.app.service.device.DeviceStateService; import com.iflytop.sgs.app.service.device.module.HeatModuleService; @@ -31,6 +33,10 @@ public class FanStopCommand extends BaseCommandHandler { for (int i = 0; i < heatIdJsonArray.size(); i++) { String heatId = heatIdJsonArray.getStr(i); HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId); + //获取当前加热区状态 + HeatModuleState heatModuleState = deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId); + //判断风扇状态 + Assert.isTrue(!heatModuleState.isFanOpen(),heatModuleId+"加热区 风扇已关闭"); heatModuleService.fanClose(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId); deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId).setFanOpen(false); } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/HeatStartCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/HeatStartCommand.java index 610b6da..2d1bb3b 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/HeatStartCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/HeatStartCommand.java @@ -1,5 +1,6 @@ package com.iflytop.sgs.app.cmd.control; +import cn.hutool.core.lang.Assert; import cn.hutool.json.JSONArray; import com.iflytop.sgs.app.core.BaseCommandHandler; import com.iflytop.sgs.app.model.bo.status.device.HeatModuleState; @@ -20,7 +21,7 @@ import java.util.concurrent.CompletableFuture; @Slf4j @Component @RequiredArgsConstructor -@CommandMapping("heat_start")//业务指令注解 +@CommandMapping("heater_start")//业务指令注解 public class HeatStartCommand extends BaseCommandHandler { private final HeatModuleService heatModuleService; private final DeviceStateService deviceStateService; @@ -34,6 +35,8 @@ public class HeatStartCommand extends BaseCommandHandler { String heatId = heatIdJsonArray.getStr(i); HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId); HeatModuleState heatModuleState = deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId); + //判断是否可以进行退火 + Assert.isTrue(heatModuleState.getTrayStatus() == 1, heatModuleId + "加热区无托盘"); //设置加热区目标温度 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId).setTargetTemperature(heatModuleState.getHeatTemperature()); //从系统状态中获取指定加热区设定的烘干温度数值 diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/HeatStopCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/HeatStopCommand.java index 154d55b..e016897 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/HeatStopCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/HeatStopCommand.java @@ -1,7 +1,9 @@ package com.iflytop.sgs.app.cmd.control; +import cn.hutool.core.lang.Assert; import cn.hutool.json.JSONArray; import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.bo.status.device.HeatModuleState; import com.iflytop.sgs.app.model.dto.CmdDTO; import com.iflytop.sgs.app.service.device.DeviceStateService; import com.iflytop.sgs.app.service.device.module.HeatModuleService; @@ -19,7 +21,7 @@ import java.util.concurrent.CompletableFuture; @Slf4j @Component @RequiredArgsConstructor -@CommandMapping("heat_stop")//业务指令注解 +@CommandMapping("heater_stop")//业务指令注解 public class HeatStopCommand extends BaseCommandHandler { private final HeatModuleService heatModuleService; private final DeviceStateService deviceStateService; @@ -31,6 +33,10 @@ public class HeatStopCommand extends BaseCommandHandler { for (int i = 0; i < heatIdJsonArray.size(); i++) { String heatId = heatIdJsonArray.getStr(i); HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId); + //获取当前加热区状态 + HeatModuleState heatModuleState = deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId); + //判断当前加热区是否处于退火状态 + Assert.isTrue(heatModuleState.isHeating(), heatModuleId + "加热区目前不在加热状态"); //关闭加热 heatModuleService.heatRodClose(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId); deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId).setHeating(false); diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/SolutionAddCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidAddCommand.java similarity index 88% rename from src/main/java/com/iflytop/sgs/app/cmd/control/SolutionAddCommand.java rename to src/main/java/com/iflytop/sgs/app/cmd/control/LiquidAddCommand.java index a7e682a..3d06747 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/SolutionAddCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidAddCommand.java @@ -17,8 +17,8 @@ import java.util.concurrent.CompletableFuture; @Slf4j @Component @RequiredArgsConstructor -@CommandMapping("solution_add")//业务指令注解 -public class SolutionAddCommand extends BaseCommandHandler { +@CommandMapping("liquid_add")//业务指令注解 +public class LiquidAddCommand extends BaseCommandHandler { private final SolutionModuleService solutionModuleService; private final DeviceStateService deviceStateService; diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/SolutionReduceCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidReduceCommand.java similarity index 88% rename from src/main/java/com/iflytop/sgs/app/cmd/control/SolutionReduceCommand.java rename to src/main/java/com/iflytop/sgs/app/cmd/control/LiquidReduceCommand.java index 4e82700..54c346a 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/SolutionReduceCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidReduceCommand.java @@ -17,8 +17,8 @@ import java.util.concurrent.CompletableFuture; @Slf4j @Component @RequiredArgsConstructor -@CommandMapping("solution_add")//业务指令注解 -public class SolutionReduceCommand extends BaseCommandHandler { +@CommandMapping("liquid_reduce")//业务指令注解 +public class LiquidReduceCommand extends BaseCommandHandler { private final SolutionModuleService solutionModuleService; private final DeviceStateService deviceStateService; diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/MoveToHeatAreaCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/MoveToHeatAreaCommand.java index 9d823d2..cc1d78d 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/MoveToHeatAreaCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/MoveToHeatAreaCommand.java @@ -1,7 +1,10 @@ package com.iflytop.sgs.app.cmd.control; +import cn.hutool.core.lang.Assert; import com.iflytop.sgs.app.core.BaseCommandHandler; import com.iflytop.sgs.app.model.bo.Point3D; +import com.iflytop.sgs.app.model.bo.status.device.HeatModuleState; +import com.iflytop.sgs.app.model.bo.status.device.PumpState; import com.iflytop.sgs.app.model.dto.CmdDTO; import com.iflytop.sgs.app.service.api.DevicePositionService; import com.iflytop.sgs.app.service.device.DeviceStateService; @@ -10,6 +13,7 @@ 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.HeatModuleCode; +import com.iflytop.sgs.common.enums.PumpStateCode; import com.iflytop.sgs.common.enums.data.DevicePositionCode; import com.iflytop.sgs.common.exception.AppException; import com.iflytop.sgs.common.result.ResultCode; @@ -50,6 +54,12 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler { } String heatId = cmdDTO.getStringParam("heatId"); HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId); + HeatModuleState heatModuleState=deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId); + PumpState pumpState=deviceStateService.getDeviceState().getPumpState(); + //判断是否有托盘 + Assert.isTrue(heatModuleState.getTrayStatus()==0,heatModuleId+"此加热位已存在托盘"); + //判断泵现在处于关闭状态 + Assert.isTrue(pumpState.equals(PumpStateCode.close),"蠕动泵正在运行，无法转移"); //加液电机升起的安全高度 double liquidMotorSafeDistance = devicePositionService.getPosition(DevicePositionCode.clawTrayGrip).getDistance(); //获取机械臂夹取托盘的横向距离 @@ -58,18 +68,28 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler { double clawTrayHeight = devicePositionService.getPosition(DevicePositionCode.clawTrayHeight).getDistance(); //获取指定加热模块上方点位 Point3D heatAreaTrayClawPoint3D = heatModuleService.getHeatAreaTrayClawPoint3D(heatModuleId); + //获取加液模块的上方点位 + Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D(); return runAsync(() -> { try { //升高加液电机高度 solutionModuleService.motorLiquidMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidMotorSafeDistance); + //移动到加液区点位 + transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D); + //下降z轴 + transferModuleService.transferZMove(clawTrayHeight); + //向左夹紧托盘 + transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayGrip); //移动机械臂到加热区上方 此时机械臂夹着托盘 - transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaTrayClawPoint3D); //将机械臂移动至加热模块上方 - //下降z轴,夹爪脱离机械臂 + transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaTrayClawPoint3D); + //下降z轴 transferModuleService.transferZMove(clawTrayHeight); //移动x轴向右脱离托盘 transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -clawTrayGrip); - //z轴返回原点 - solutionModuleService.motorLiquidMove(0); + //z轴返回0点 + solutionModuleService.motorLiquidMove(cmdDTO.getCommandId(), cmdDTO.getCommand(),0); + //设置加热区有托盘 + deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId).setTrayStatus(1); } finally { deviceStateService.getCommandMutexState().get().setMoveToHeatAreaCommandExecuting(false); } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/MoveToSolutionAreaCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/MoveToLiquidAreaCommand.java similarity index 82% rename from src/main/java/com/iflytop/sgs/app/cmd/control/MoveToSolutionAreaCommand.java rename to src/main/java/com/iflytop/sgs/app/cmd/control/MoveToLiquidAreaCommand.java index 023c150..02bddd9 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/MoveToSolutionAreaCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/MoveToLiquidAreaCommand.java @@ -25,8 +25,8 @@ import java.util.concurrent.CompletableFuture; @Slf4j @Component @RequiredArgsConstructor -@CommandMapping("move_to_solution_area")//业务指令注解 -public class MoveToSolutionAreaCommand extends BaseCommandHandler { +@CommandMapping("move_to_liquid_area")//业务指令注解 +public class MoveToLiquidAreaCommand extends BaseCommandHandler { private final HeatModuleService heatModuleService; private final SolutionModuleService solutionModuleService; private final TransferModuleService transferModuleService; @@ -66,16 +66,24 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler { try { //升高加液电机高度 solutionModuleService.motorLiquidMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidMotorSafeDistance); - //机械臂移动到加热位上方或者上料位上方 + //机械臂移动到加热位上方 transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaTrayPoint3D); //下降z轴 transferModuleService.transferZMove(clawTrayHeight); //移动x轴向左夹紧托盘 transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayGrip); - //z轴上升到0点 - transferModuleService.transferZMove(0); + //z轴上升到0点 todo 安全距离即可 需要测试 + transferModuleService.transferZMove(100); //机械臂移动到加液区 transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D); + //下降z轴 + transferModuleService.transferZMove(clawTrayHeight); + //移动x轴向右放开托盘 + transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -clawTrayGrip); + //z轴上升到0点 todo 安全距离即可 需要测试 + transferModuleService.transferZMove(100); + //todo x轴回原点 + transferModuleService.transferXMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand()); } finally { deviceStateService.getCommandMutexState().get().setMoveToSolutionAreaCommandExecuting(false); } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpAddCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpAddCommand.java index 7deb96c..eb86170 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpAddCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpAddCommand.java @@ -1,14 +1,15 @@ package com.iflytop.sgs.app.cmd.debug; import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.bo.status.device.ValveState; import com.iflytop.sgs.app.model.dto.CmdDTO; import com.iflytop.sgs.app.service.api.SystemConfigService; import com.iflytop.sgs.app.service.device.DeviceCommandService; +import com.iflytop.sgs.app.service.device.DeviceStateService; import com.iflytop.sgs.common.annotation.CommandMapping; import com.iflytop.sgs.common.cmd.CommandFuture; import com.iflytop.sgs.common.cmd.DeviceCommandBundle; import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; -import com.iflytop.sgs.common.enums.SystemConfigCode; import com.iflytop.sgs.common.enums.cmd.CmdDirection; import com.iflytop.sgs.common.utils.CommandUtil; import lombok.RequiredArgsConstructor; @@ -27,18 +28,17 @@ import java.util.concurrent.CompletableFuture; public class DebugLiquidPumpAddCommand extends BaseCommandHandler { private final DeviceCommandService deviceCommandService; private final SystemConfigService systemConfigService; + private final DeviceStateService deviceStateService; @Override public CompletableFuture handle(CmdDTO cmdDTO) { Double volume = cmdDTO.getDoubleParam("volume"); - //todo 监测阀门开启状态 将加液量转换成电机转数 - - Double scale = Double.valueOf(systemConfigService.getSystemConfig(SystemConfigCode.scale_thin)); + ValveState valveState = deviceStateService.getDeviceState().getValveState(); + Double scale = Double.valueOf(systemConfigService.getSystemConfig(valveState.getState().getSystemConfigCode())); Double position = volume * scale; Double speed = cmdDTO.getDoubleParam("speed"); return runAsync(() -> { - CmdDirection cmdDirection = CmdDirection.forward; DeviceCommandBundle deviceCommand; if (speed != null) { deviceCommand = DeviceCommandGenerator.liquidPumpMoveBy(position); diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpReduceCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpReduceCommand.java index ef5d339..cf7419f 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpReduceCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpReduceCommand.java @@ -1,8 +1,11 @@ package com.iflytop.sgs.app.cmd.debug; import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.bo.status.device.ValveState; import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.api.SystemConfigService; import com.iflytop.sgs.app.service.device.DeviceCommandService; +import com.iflytop.sgs.app.service.device.DeviceStateService; import com.iflytop.sgs.common.annotation.CommandMapping; import com.iflytop.sgs.common.cmd.CommandFuture; import com.iflytop.sgs.common.cmd.DeviceCommandBundle; @@ -24,12 +27,15 @@ import java.util.concurrent.CompletableFuture; @CommandMapping("liquid_pump_reduce") public class DebugLiquidPumpReduceCommand extends BaseCommandHandler { private final DeviceCommandService deviceCommandService; + private final DeviceStateService deviceStateService; + private SystemConfigService systemConfigService; @Override public CompletableFuture handle(CmdDTO cmdDTO) { Double volume = cmdDTO.getDoubleParam("volume"); - //todo 量转换成转数 - Double position = Double.valueOf(1000); + ValveState valveState = deviceStateService.getDeviceState().getValveState(); + Double scale = Double.valueOf(systemConfigService.getSystemConfig(valveState.getState().getSystemConfigCode())); + Double position = volume * scale; Double speed = cmdDTO.getDoubleParam("speed"); return runAsync(() -> { diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpStartCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpStartCommand.java index c17fd83..77b2e76 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpStartCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpStartCommand.java @@ -29,7 +29,6 @@ public class DebugLiquidPumpStartCommand extends BaseCommandHandler { public CompletableFuture handle(CmdDTO cmdDTO) { Double speed = cmdDTO.getDoubleParam("speed"); String direction = cmdDTO.getStringParam("direction");//front back 正转倒转 - Integer channel = 1; CmdDirection cmdDirection = CmdDirection.valueOf(direction); return runAsync(() -> { DeviceCommandBundle deviceCommand; diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpStopCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpStopCommand.java index 1689eb2..2e4c7b8 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpStopCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpStopCommand.java @@ -26,7 +26,6 @@ public class DebugLiquidPumpStopCommand extends BaseCommandHandler { @Override public CompletableFuture handle(CmdDTO cmdDTO) { - Integer channel = 1; return runAsync(() -> { DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidPumpStop(); CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); diff --git a/src/main/java/com/iflytop/sgs/app/model/bo/status/device/DeviceState.java b/src/main/java/com/iflytop/sgs/app/model/bo/status/device/DeviceState.java index f2d742b..b5c515e 100644 --- a/src/main/java/com/iflytop/sgs/app/model/bo/status/device/DeviceState.java +++ b/src/main/java/com/iflytop/sgs/app/model/bo/status/device/DeviceState.java @@ -34,6 +34,10 @@ public class DeviceState { private User currentUser; @Schema(description = "当前实验") private Tasks currentTasks; + @Schema(description = "电磁阀状态") + private ValveState valveState; + @Schema(description = "蠕动泵状态") + private PumpState pumpState; /** * 获取指定加热模块状态 */ diff --git a/src/main/java/com/iflytop/sgs/app/model/bo/status/device/HeatModuleState.java b/src/main/java/com/iflytop/sgs/app/model/bo/status/device/HeatModuleState.java index 6a1c8f5..4d7119f 100644 --- a/src/main/java/com/iflytop/sgs/app/model/bo/status/device/HeatModuleState.java +++ b/src/main/java/com/iflytop/sgs/app/model/bo/status/device/HeatModuleState.java @@ -10,8 +10,6 @@ public class HeatModuleState { @Schema(description = "加热模块code") private HeatModuleCode moduleCode; - @Schema(description = "托盘升降状态，0为降下，1为抬起") - private int trayUp = 0; @Schema(description = "托盘状态，0为无托盘，1为有托盘") private int trayStatus = 0; diff --git a/src/main/java/com/iflytop/sgs/app/model/bo/status/device/PumpState.java b/src/main/java/com/iflytop/sgs/app/model/bo/status/device/PumpState.java new file mode 100644 index 0000000..284e0d1 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/bo/status/device/PumpState.java @@ -0,0 +1,16 @@ +package com.iflytop.sgs.app.model.bo.status.device; + +import com.iflytop.sgs.common.enums.PumpStateCode; +import com.iflytop.sgs.common.enums.ValveStateCode; +import io.swagger.v3.oas.annotations.media.Schema; +import lombok.Data; + +@Schema(description = "电磁转换阀") +@Data +public class PumpState { + + @Schema(description = "开关") + private PumpStateCode state; + + +} diff --git a/src/main/java/com/iflytop/sgs/app/model/bo/status/device/ValveState.java b/src/main/java/com/iflytop/sgs/app/model/bo/status/device/ValveState.java index 6d440e8..8e79c68 100644 --- a/src/main/java/com/iflytop/sgs/app/model/bo/status/device/ValveState.java +++ b/src/main/java/com/iflytop/sgs/app/model/bo/status/device/ValveState.java @@ -1,5 +1,6 @@ package com.iflytop.sgs.app.model.bo.status.device; +import com.iflytop.sgs.common.enums.ValveStateCode; import io.swagger.v3.oas.annotations.media.Schema; import lombok.Data; @@ -7,22 +8,8 @@ import lombok.Data; @Data public class ValveState { - @Schema(description = "稀硝酸开关 true开") - private boolean thin = false; - - @Schema(description = "浓硝酸开关 true开") - private boolean thick = false; - - @Schema(description = "废水开关 true开") - private boolean waste = false; - - @Schema(description = "蒸馏水开关 true开") - private boolean water = false; - - - - - + @Schema(description = "开关") + private ValveStateCode state; } diff --git a/src/main/java/com/iflytop/sgs/app/service/device/module/DoorModuleService.java b/src/main/java/com/iflytop/sgs/app/service/device/module/DoorModuleService.java index 16458fc..d408cd7 100644 --- a/src/main/java/com/iflytop/sgs/app/service/device/module/DoorModuleService.java +++ b/src/main/java/com/iflytop/sgs/app/service/device/module/DoorModuleService.java @@ -22,13 +22,6 @@ public class DoorModuleService { /** * 门电机回原点 */ - public void doorOrigin() throws Exception { - doorOrigin(null, null); - } - - /** - * 门电机回原点 - */ public void doorOrigin(String cmdId, String cmdCode) throws Exception { DeviceCommandBundle deviceCommand = DeviceCommandGenerator.doorOrigin(); CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); @@ -38,13 +31,6 @@ public class DoorModuleService { /** * 门电机移动 */ - public void doorMove(double position) throws Exception { - doorMove(null, null, position); - } - - /** - * 门电机移动 - */ public void doorMove(String cmdId, String cmdCode, double position) throws Exception { DeviceCommandBundle deviceCommand = DeviceCommandGenerator.doorMove(position); CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); diff --git a/src/main/java/com/iflytop/sgs/common/enums/PumpStateCode.java b/src/main/java/com/iflytop/sgs/common/enums/PumpStateCode.java new file mode 100644 index 0000000..4a86c1d --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/enums/PumpStateCode.java @@ -0,0 +1,18 @@ +package com.iflytop.sgs.common.enums; + +import lombok.Getter; + +/** + * 电磁转换阀状态枚举类 index为对应的物理通道 + * + */ +@Getter +public enum PumpStateCode { + //加液时 液量的转换系数 + open(), + close(); + + +} + + diff --git a/src/main/java/com/iflytop/sgs/common/enums/SystemConfigCode.java b/src/main/java/com/iflytop/sgs/common/enums/SystemConfigCode.java index faa5d23..e435b72 100644 --- a/src/main/java/com/iflytop/sgs/common/enums/SystemConfigCode.java +++ b/src/main/java/com/iflytop/sgs/common/enums/SystemConfigCode.java @@ -12,7 +12,8 @@ public enum SystemConfigCode { scale_thin("稀硝酸转换系数"), scale_thick("浓硝酸转换系数"), scale_water("水转换系数"), - scale_waste("废水转换系数"); + scale_waste("废水转换系数"), + scale_vacant("空气转换系数"); private String description; diff --git a/src/main/java/com/iflytop/sgs/common/enums/ValveStateCode.java b/src/main/java/com/iflytop/sgs/common/enums/ValveStateCode.java new file mode 100644 index 0000000..b32fe61 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/common/enums/ValveStateCode.java @@ -0,0 +1,28 @@ +package com.iflytop.sgs.common.enums; + +import lombok.Getter; + +/** + * 电磁转换阀状态枚举类 index为对应的物理通道 + * + */ +@Getter +public enum ValveStateCode { + //加液时 液量的转换系数 + thin_way(1, "稀硝酸通道",SystemConfigCode.scale_thin), + thick_way(2, "浓硝酸通道",SystemConfigCode.scale_thick), + water(3, "蒸馏水通道",SystemConfigCode.scale_water), + waste(4, "废水通道",SystemConfigCode.scale_waste), + vacant(5, "空气通道",SystemConfigCode.scale_vacant); + private final Integer index; + private final String description; + private SystemConfigCode systemConfigCode; + + ValveStateCode(Integer index, String description, SystemConfigCode systemConfigCode) { + this.index = index; + this.description = description; + this.systemConfigCode = systemConfigCode; + } +} + +