From 87d765987fd91cc049ff418380ff5031e137ee08 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= Date: Mon, 26 May 2025 16:26:28 +0800 Subject: [PATCH] =?UTF-8?q?=E5=AE=9A=E4=B9=89=E4=BD=8D=E7=BD=AE=E7=82=B9?= =?UTF-8?q?=E4=B8=8E=E8=B7=9D=E7=A6=BB?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../sgs/app/cmd/control/LiquidAddCommand.java | 32 ----- .../sgs/app/cmd/control/LiquidReduceCommand.java | 31 ----- .../sgs/app/cmd/control/SolutionAddCommand.java | 32 +++++ .../sgs/app/cmd/control/SolutionReduceCommand.java | 31 +++++ .../sgs/common/enums/data/DevicePositionCode.java | 154 ++++----------------- .../sgs/common/enums/data/DevicePositionType.java | 6 +- 6 files changed, 95 insertions(+), 191 deletions(-) delete mode 100644 src/main/java/com/iflytop/sgs/app/cmd/control/LiquidAddCommand.java delete mode 100644 src/main/java/com/iflytop/sgs/app/cmd/control/LiquidReduceCommand.java create mode 100644 src/main/java/com/iflytop/sgs/app/cmd/control/SolutionAddCommand.java create mode 100644 src/main/java/com/iflytop/sgs/app/cmd/control/SolutionReduceCommand.java diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidAddCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidAddCommand.java deleted file mode 100644 index 3d06747..0000000 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidAddCommand.java +++ /dev/null @@ -1,32 +0,0 @@ -package com.iflytop.sgs.app.cmd.control; - -import com.iflytop.sgs.app.core.BaseCommandHandler; -import com.iflytop.sgs.app.model.dto.CmdDTO; -import com.iflytop.sgs.app.service.device.DeviceStateService; -import com.iflytop.sgs.app.service.device.module.SolutionModuleService; -import com.iflytop.sgs.common.annotation.CommandMapping; -import lombok.RequiredArgsConstructor; -import lombok.extern.slf4j.Slf4j; -import org.springframework.stereotype.Component; - -import java.util.concurrent.CompletableFuture; - -/** - * 添加溶液 todo wmy 需要记录托盘每一行的坐标 机械臂移动成功后 调动泵机加液 - */ -@Slf4j -@Component -@RequiredArgsConstructor -@CommandMapping("liquid_add")//业务指令注解 -public class LiquidAddCommand extends BaseCommandHandler { - private final SolutionModuleService solutionModuleService; - private final DeviceStateService deviceStateService; - - @Override - public CompletableFuture handle(CmdDTO cmdDTO) { - return runAsync(() -> { - - }); - } -} - diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidReduceCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidReduceCommand.java deleted file mode 100644 index 54c346a..0000000 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidReduceCommand.java +++ /dev/null @@ -1,31 +0,0 @@ -package com.iflytop.sgs.app.cmd.control; - -import com.iflytop.sgs.app.core.BaseCommandHandler; -import com.iflytop.sgs.app.model.dto.CmdDTO; -import com.iflytop.sgs.app.service.device.DeviceStateService; -import com.iflytop.sgs.app.service.device.module.SolutionModuleService; -import com.iflytop.sgs.common.annotation.CommandMapping; -import lombok.RequiredArgsConstructor; -import lombok.extern.slf4j.Slf4j; -import org.springframework.stereotype.Component; - -import java.util.concurrent.CompletableFuture; - -/** - * 抽取溶液 todo wmy 需要记录托盘每一行的坐标 机械臂移动成功后 调动泵机抽液体 - */ -@Slf4j -@Component -@RequiredArgsConstructor -@CommandMapping("liquid_reduce")//业务指令注解 -public class LiquidReduceCommand extends BaseCommandHandler { - private final SolutionModuleService solutionModuleService; - private final DeviceStateService deviceStateService; - - @Override - public CompletableFuture handle(CmdDTO cmdDTO) { - return runAsync(() -> { - }); - } -} - diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/SolutionAddCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/SolutionAddCommand.java new file mode 100644 index 0000000..a7e682a --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/SolutionAddCommand.java @@ -0,0 +1,32 @@ +package com.iflytop.sgs.app.cmd.control; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.device.DeviceStateService; +import com.iflytop.sgs.app.service.device.module.SolutionModuleService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 添加溶液 todo wmy 需要记录托盘每一行的坐标 机械臂移动成功后 调动泵机加液 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("solution_add")//业务指令注解 +public class SolutionAddCommand extends BaseCommandHandler { + private final SolutionModuleService solutionModuleService; + private final DeviceStateService deviceStateService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/SolutionReduceCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/SolutionReduceCommand.java new file mode 100644 index 0000000..f13a3e6 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/SolutionReduceCommand.java @@ -0,0 +1,31 @@ +package com.iflytop.sgs.app.cmd.control; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.device.DeviceStateService; +import com.iflytop.sgs.app.service.device.module.SolutionModuleService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 抽取溶液 todo wmy 需要记录托盘每一行的坐标 机械臂移动成功后 调动泵机抽液体 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("solution_reduce")//业务指令注解 +public class SolutionReduceCommand extends BaseCommandHandler { + private final SolutionModuleService solutionModuleService; + private final DeviceStateService deviceStateService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/common/enums/data/DevicePositionCode.java b/src/main/java/com/iflytop/sgs/common/enums/data/DevicePositionCode.java index b762003..361301f 100644 --- a/src/main/java/com/iflytop/sgs/common/enums/data/DevicePositionCode.java +++ b/src/main/java/com/iflytop/sgs/common/enums/data/DevicePositionCode.java @@ -7,54 +7,38 @@ import lombok.Getter; */ @Getter public enum DevicePositionCode { - + ////////////相对距离 /** * 预充防滴落距离 */ antiDripDistance(DevicePositionType.DISTANCE, "预充防滴落距离"), /** - * 试管间距距离 - */ - testTubeSpacing(DevicePositionType.DISTANCE, "试管间距距离"), - - /** - * 夹爪托盘夹取距离 - */ - //clawTrayPick(DevicePositionType.DISTANCE, "夹爪托盘夹取距离"), - - /** - * 加液机械臂脱离试管的距离 - */ - liquidMotorSafeDistance(DevicePositionType.DISTANCE, "加液机械臂脱离试管的距离"), - /** - * 机械臂夹紧距离 + * 托盘试管水平间距 */ - clawTrayGrip(DevicePositionType.DISTANCE, "夹紧托盘横向距离"), + trayTubeHorizontalSpacingDistance(DevicePositionType.DISTANCE, "托盘试管水平间距"), /** - * 托盘和夹爪分离高度 + * 转运模块X轴拿取托盘进出卡槽移动距离 */ - clawTrayHeight(DevicePositionType.DISTANCE, "夹紧托盘纵向高度"), + transferModuleXPickTrayMoveDistance(DevicePositionType.DISTANCE, "转运模块X轴拿取托盘进出卡槽移动距离"), + ////////////////位置 /** - * 夹爪试管夹取距离 + * 加液模块电机下降进入试管位置 */ - //clawTestTubePick(DevicePositionType.DISTANCE, "夹爪试管夹取距离"), - + solutionModuleMotorDownInTubePositon(DevicePositionType.POSITION, "加液模块电机下降进入试管位置"), /** - * 夹爪试管夹紧距离 + * 转运模块电机上升进入试管位置 */ - //clawTestTubeGrip(DevicePositionType.DISTANCE, "夹爪试管夹紧距离"), + transferModuleZMotorUpInTubePositon(DevicePositionType.POSITION, "转运模块电机上升进入试管位置"), /** - * 夹爪拍子夹取距离 + * 转运模块Z轴移动托盘时起托盘的高度位置 */ - //clawCapPick(DevicePositionType.DISTANCE, "夹爪拍子夹取距离"), - + transferModuleZTrayUpMovePositon(DevicePositionType.POSITION, "转运模块Z轴移动托盘时起托盘的高度位置"), /** - * 夹爪拍子夹紧距离 + * 转运模块Z轴拿取托盘时起下降的高度位置 */ - //clawCapGrip(DevicePositionType.DISTANCE, "夹爪拍子夹紧距离"), - + transferModuleZPickTrayDownPositon(DevicePositionType.POSITION, "转运模块Z轴拿取托盘时起下降的高度位置"), /** * 开门距离 */ @@ -65,117 +49,33 @@ public enum DevicePositionCode { */ trayLift(DevicePositionType.DISTANCE, "托盘升降抬升距离"), - /** - * 托盘升降下降距离 - */ - trayLower(DevicePositionType.DISTANCE, "托盘升降下降距离"), - - /** - * 加热模块拍子移动高度 - */ - heatModuleCapMoveHeight(DevicePositionType.DISTANCE, "加热模块拍子移动高度"), - - /** - * 拍子升降模块拍子移动高度 - */ - capModuleCapMoveHeight(DevicePositionType.DISTANCE, "拍子升降模块拍子移动高度"), - - /** - * 加热模块托盘移动高度 - */ - heatModuleTrayMoveHeight(DevicePositionType.DISTANCE, "加热模块托盘移动高度"), - - /** - * 加液模块托盘移动高度 - */ - solutionModuleTrayMoveHeight(DevicePositionType.DISTANCE, "加液模块托盘移动高度"), - -// /** -// * 移动试管安全高度 -// */ -// testTubeSafetyHeight(DevicePositionType.DISTANCE, "移动试管安全高度"), - - /** - * 拍子升降高度 - */ - capLiftingHeight(DevicePositionType.DISTANCE, "拍子升降高度"), ////////////////////////点 - /** - * 拍子存放区拍子夹爪点 + * 上料区托盘夹爪位置点 */ - capStorageCapClawPoint(DevicePositionType.POINT_3D, "拍子存放区拍子夹爪点"), + materialAreaTrayPoint(DevicePositionType.POINT_3D, "上料区托盘夹爪位置点"), /** - * 上料区托盘夹爪点 + * 加液时托盘位置点 */ - materialAreaTrayPoint(DevicePositionType.POINT_3D, "上料区托盘夹爪点"), + liquidAreaTrayPoint(DevicePositionType.POINT_3D, "加液时托盘位置点"), /** - * 加液区托盘夹爪点 + * 加热区1托盘夹爪位置点 */ - liquidAreaTrayPoint(DevicePositionType.POINT_3D, "加液区托盘夹爪点"), - + heatArea1TrayClawPoint(DevicePositionType.POINT_3D, "加热区1托盘夹爪位置点"), /** - * 加热区1托盘夹爪点 + * 加热区2托盘夹爪位置点 */ - heatArea1TrayClawPoint(DevicePositionType.POINT_3D, "加热区1托盘夹爪点"), - - /** - * 加热区2托盘夹爪点 - */ - heatArea2TrayClawPoint(DevicePositionType.POINT_3D, "加热区2托盘夹爪点"), - - /** - * 加热区3托盘夹爪点 - */ - heatArea3TrayClawPoint(DevicePositionType.POINT_3D, "加热区3托盘夹爪点"), - - /** - * 加热区4托盘夹爪点 - */ - heatArea4TrayClawPoint(DevicePositionType.POINT_3D, "加热区4托盘夹爪点"), - - /** - * 加热区5托盘夹爪点 - */ - heatArea5TrayClawPoint(DevicePositionType.POINT_3D, "加热区5托盘夹爪点"), - + heatArea2TrayClawPoint(DevicePositionType.POINT_3D, "加热区2托盘夹爪位置点"), /** - * 加热区6托盘夹爪点 + * 加热区3托盘夹爪位置点 */ - heatArea6TrayClawPoint(DevicePositionType.POINT_3D, "加热区6托盘夹爪点"), - + heatArea3TrayClawPoint(DevicePositionType.POINT_3D, "加热区3托盘夹爪位置点"), /** - * 加热区1拍子夹爪点 + * 加热区4托盘夹爪位置点 */ - heatArea1CapClawPoint(DevicePositionType.POINT_3D, "加热区1拍子夹爪点"), - - /** - * 加热区2拍子夹爪点 - */ - heatArea2CapClawPoint(DevicePositionType.POINT_3D, "加热区2拍子夹爪点"), - - /** - * 加热区3拍子夹爪点 - */ - heatArea3CapClawPoint(DevicePositionType.POINT_3D, "加热区3拍子夹爪点"), - - /** - * 加热区4拍子夹爪点 - */ - heatArea4CapClawPoint(DevicePositionType.POINT_3D, "加热区4拍子夹爪点"), - - /** - * 加热区5拍子夹爪点 - */ - heatArea5CapClawPoint(DevicePositionType.POINT_3D, "加热区5拍子夹爪点"), - - /** - * 加热区6拍子夹爪点 - */ - heatArea6CapClawPoint(DevicePositionType.POINT_3D, "加热区6拍子夹爪点"); - - + heatArea4TrayClawPoint(DevicePositionType.POINT_3D, "加热区4托盘夹爪位置点"), + ; private final DevicePositionType type; private final String name; diff --git a/src/main/java/com/iflytop/sgs/common/enums/data/DevicePositionType.java b/src/main/java/com/iflytop/sgs/common/enums/data/DevicePositionType.java index 5230a82..6ce4e7e 100644 --- a/src/main/java/com/iflytop/sgs/common/enums/data/DevicePositionType.java +++ b/src/main/java/com/iflytop/sgs/common/enums/data/DevicePositionType.java @@ -10,7 +10,11 @@ public enum DevicePositionType { /** * 直线距离 */ - DISTANCE("直线距离"), + DISTANCE("距离"), + /** + * 位置 + */ + POSITION("位置"), /** * 二维点 */