4 changed files with 71 additions and 135 deletions
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39src/main/java/com/iflytop/sgs/app/cmd/control/LiquidAddCommand.java
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35src/main/java/com/iflytop/sgs/app/cmd/control/LiquidReduceCommand.java
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68src/main/java/com/iflytop/sgs/app/cmd/control/SolutionAddCommand.java
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64src/main/java/com/iflytop/sgs/app/cmd/control/SolutionReduceCommand.java
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package com.iflytop.sgs.app.cmd.control; |
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import cn.hutool.core.lang.Assert; |
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import cn.hutool.json.JSONArray; |
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import com.iflytop.sgs.app.core.BaseCommandHandler; |
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import com.iflytop.sgs.app.model.bo.Point3D; |
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import com.iflytop.sgs.app.model.bo.status.device.TransferModuleState; |
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import com.iflytop.sgs.app.model.dto.CmdDTO; |
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import com.iflytop.sgs.app.service.api.DevicePositionService; |
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import com.iflytop.sgs.app.service.api.SystemConfigService; |
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import com.iflytop.sgs.app.service.device.DeviceStateService; |
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import com.iflytop.sgs.app.service.device.module.SolutionModuleService; |
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import com.iflytop.sgs.app.service.device.module.TransferModuleService; |
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import com.iflytop.sgs.common.annotation.CommandMapping; |
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import com.iflytop.sgs.common.enums.SystemConfigCode; |
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import com.iflytop.sgs.common.enums.ValveStateCode; |
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import com.iflytop.sgs.common.enums.data.DevicePositionCode; |
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import com.iflytop.sgs.common.exception.AppException; |
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import com.iflytop.sgs.common.result.ResultCode; |
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import lombok.RequiredArgsConstructor; |
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import lombok.extern.slf4j.Slf4j; |
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import org.springframework.stereotype.Component; |
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import java.util.concurrent.CompletableFuture; |
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/** |
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* 添加溶液 |
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*/ |
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@Slf4j |
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@Component |
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@RequiredArgsConstructor |
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@CommandMapping("solution_add")//业务指令注解 |
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public class SolutionAddCommand extends BaseCommandHandler { |
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private final SolutionModuleService solutionModuleService; |
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private final DeviceStateService deviceStateService; |
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private final DevicePositionService devicePositionService; |
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private final TransferModuleService transferModuleService; |
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private final SystemConfigService systemConfigService; |
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@Override |
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public CompletableFuture<Void> handle(CmdDTO cmdDTO) { |
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String solution=cmdDTO.getStringParam("solution"); |
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ValveStateCode valveStateCode=ValveStateCode.valueOf(solution);//解析加液通道 |
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double volume=cmdDTO.getDoubleParam("volume");//解析加液量 |
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JSONArray jsonArray =cmdDTO.getJSONArrayParam("index");//解析加液列 |
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Double scale = Double.valueOf(systemConfigService.getSystemConfigValueByCode(valveStateCode.getSystemConfigCode()));//获取转换系数 |
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Double position = volume * scale; |
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Point3D liquidAreaTrayPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D(); //获取加液区上方点位 |
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Double solutionModuleMotorDownInTubeAddPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeAddPositon).getPositon(); //加液模块电机下降进入试管加液位置 |
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Double trayTubeHorizontalSpacingDistance = devicePositionService.getPosition(DevicePositionCode.trayTubeHorizontalSpacingDistance).getDistance(); //加液模块电机下降进入试管加液位置 |
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return runAsync(() -> { |
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solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(),cmdDTO.getCommand(),valveStateCode);//电磁阀对应通道打开 |
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TransferModuleState transferModuleState=deviceStateService.getDeviceState().getTransferModule();//获取机械臂状态 |
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Assert.isTrue(transferModuleState.isTrayStatus(),()->new AppException(ResultCode.OPERATION_NOT_ALLOWED));//判断机械臂是否有托盘 |
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solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//加液机械臂上升 |
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transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint);//移动至加液位置 |
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solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), solutionModuleMotorDownInTubeAddPositon);//加液机械臂下降 |
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//开始加液 |
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for (int i = 0; i < jsonArray.size(); i++) { |
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solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(),cmdDTO.getCommand(),position);//加液 |
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transferModuleService.transferXMoveBy(cmdDTO.getCommandId(),cmdDTO.getCommand(),-trayTubeHorizontalSpacingDistance);//机械臂左移试管间距 |
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} |
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solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//加液机械臂上升 |
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transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint);//移动至加液位置 |
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}); |
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} |
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} |
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package com.iflytop.sgs.app.cmd.control; |
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import cn.hutool.core.lang.Assert; |
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import cn.hutool.json.JSONArray; |
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import com.iflytop.sgs.app.core.BaseCommandHandler; |
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import com.iflytop.sgs.app.model.bo.Point3D; |
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import com.iflytop.sgs.app.model.bo.status.device.TransferModuleState; |
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import com.iflytop.sgs.app.model.dto.CmdDTO; |
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import com.iflytop.sgs.app.service.api.DevicePositionService; |
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import com.iflytop.sgs.app.service.api.SystemConfigService; |
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import com.iflytop.sgs.app.service.device.DeviceStateService; |
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import com.iflytop.sgs.app.service.device.module.SolutionModuleService; |
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import com.iflytop.sgs.app.service.device.module.TransferModuleService; |
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import com.iflytop.sgs.common.annotation.CommandMapping; |
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import com.iflytop.sgs.common.enums.ValveStateCode; |
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import com.iflytop.sgs.common.enums.data.DevicePositionCode; |
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import com.iflytop.sgs.common.exception.AppException; |
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import com.iflytop.sgs.common.result.ResultCode; |
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import lombok.RequiredArgsConstructor; |
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import lombok.extern.slf4j.Slf4j; |
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import org.springframework.stereotype.Component; |
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import java.util.concurrent.CompletableFuture; |
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/** |
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* 抽取溶液 |
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*/ |
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@Slf4j |
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@Component |
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@RequiredArgsConstructor |
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@CommandMapping("solution_reduce")//业务指令注解 |
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public class SolutionReduceCommand extends BaseCommandHandler { |
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private final SolutionModuleService solutionModuleService; |
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private final DeviceStateService deviceStateService; |
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private final DevicePositionService devicePositionService; |
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private final TransferModuleService transferModuleService; |
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private final SystemConfigService systemConfigService; |
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@Override |
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public CompletableFuture<Void> handle(CmdDTO cmdDTO) { |
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double volume=cmdDTO.getDoubleParam("volume");//解析加液量 |
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JSONArray jsonArray =cmdDTO.getJSONArrayParam("index");//解析加液列 |
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Double position = volume;//蠕动泵移动距离 |
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Point3D liquidAreaTrayPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D(); //获取加液区上方点位 |
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Double solutionModuleMotorDownInTubeExtPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeExtPositon).getPositon(); //加液模块电机下降进入试管抽液位置 |
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Double trayTubeHorizontalSpacingDistance = devicePositionService.getPosition(DevicePositionCode.trayTubeHorizontalSpacingDistance).getDistance(); //加液模块电机下降进入试管加液位置 |
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return runAsync(() -> { |
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solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(),cmdDTO.getCommand(),ValveStateCode.waste);//电磁阀废液通道打开 |
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TransferModuleState transferModuleState=deviceStateService.getDeviceState().getTransferModule();//获取机械臂状态 |
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Assert.isTrue(transferModuleState.isTrayStatus(),()->new AppException(ResultCode.OPERATION_NOT_ALLOWED));//判断机械臂是否有托盘 |
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solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//加液机械臂上升 |
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transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint);//移动至加液位置 |
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solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), solutionModuleMotorDownInTubeExtPositon);//加液机械臂下降 |
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for (int i = 0; i < jsonArray.size(); i++) { |
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solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(),cmdDTO.getCommand(),-position);//加液 |
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transferModuleService.transferXMoveBy(cmdDTO.getCommandId(),cmdDTO.getCommand(),-trayTubeHorizontalSpacingDistance);//机械臂左移试管间距 |
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} |
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solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//加液机械臂上升 |
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transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint);//移动至加液位置 |
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}); |
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} |
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} |
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