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

调整业务指令，移至加热、加液

master
白凤吉 2 months ago
parent
ea4e1df48d
commit
95d0cae711
8 changed files with 134 additions and 150 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. 4
      src/main/java/com/iflytop/sgs/app/cmd/control/LiquidAddCommand.java
  2. 4
      src/main/java/com/iflytop/sgs/app/cmd/control/LiquidReduceCommand.java
  3. 69
      src/main/java/com/iflytop/sgs/app/cmd/control/MoveToHeatAreaCommand.java
  4. 74
      src/main/java/com/iflytop/sgs/app/cmd/control/MoveToLiquidAreaCommand.java
  5. 12
      src/main/java/com/iflytop/sgs/app/model/bo/status/device/DeviceState.java
  6. 3
      src/main/java/com/iflytop/sgs/app/service/device/module/HeatModuleService.java

4
src/main/java/com/iflytop/sgs/app/cmd/control/SolutionAddCommand.java → src/main/java/com/iflytop/sgs/app/cmd/control/LiquidAddCommand.java
View File

@ -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;

4
src/main/java/com/iflytop/sgs/app/cmd/control/SolutionReduceCommand.java → src/main/java/com/iflytop/sgs/app/cmd/control/LiquidReduceCommand.java
View File

@ -17,8 +17,8 @@ import java.util.concurrent.CompletableFuture;
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("solution_reduce")//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;

69
src/main/java/com/iflytop/sgs/app/cmd/control/MoveToHeatAreaCommand.java
View File

@ -1,10 +1,7 @@
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.SolutionModuleState;
import com.iflytop.sgs.app.model.dto.CmdDTO;
import com.iflytop.sgs.app.service.api.DevicePositionService;
import com.iflytop.sgs.app.service.device.DeviceStateService;
@ -14,8 +11,6 @@ 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.data.DevicePositionCode;
import com.iflytop.sgs.common.exception.AppException;
import com.iflytop.sgs.common.result.ResultCode;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
@ -23,7 +18,7 @@ import org.springframework.stereotype.Component;
import java.util.concurrent.CompletableFuture;
/**
* 移至加热 todo wmy 需要改
* 将上料区托盘或者机械臂上的托盘移至目标加热模块
*/
@Slf4j
@Component
@ -39,49 +34,31 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
if (deviceStateService.getCommandMutexState().get().isMoveToHeatAreaCommandExecuting()) {
throw new AppException(ResultCode.COMMAND_ALREADY_EXECUTING);
if (!deviceStateService.getDeviceState().getTransferModule().isTrayStatus()) { //判断机械臂上是否有托盘
//TODO 判断目标加热模块传感器是否有托盘，如果有托盘的话提示错误
}
if (deviceStateService.getCommandMutexState().get().isMoveToSolutionAreaCommandExecuting()) {
throw new AppException(ResultCode.CMD_BUSY);
}
try {
deviceStateService.getCommandMutexState().get().setMoveToHeatAreaCommandExecuting(true);
} catch (Exception e) {
deviceStateService.getCommandMutexState().get().setMoveToHeatAreaCommandExecuting(false);
throw e;
}
String heatId = cmdDTO.getStringParam("heatId");
HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
HeatModuleState heatModuleState=deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId);
SolutionModuleState solutionModuleState=deviceStateService.getDeviceState().getSolutionModule();
//判断泵现在处于关闭状态
Assert.isTrue(solutionModuleState.isPumping(),"蠕动泵正在运行，无法转移");
//转运模块Z轴拿取托盘时起下降的高度位置
Point3D transferModuleZPickTrayDownPositon = devicePositionService.getPosition(DevicePositionCode.transferModuleZPickTrayDownPositon).getPoint3D();
//转运模块Z轴移动托盘时起托盘的高度位置
Point3D transferModuleZTrayUpMovePositon = devicePositionService.getPosition(DevicePositionCode.transferModuleZTrayUpMovePositon).getPoint3D();
//转运模块X轴拿取托盘进出卡槽移动距离
double transferModuleXPickTrayMoveDistance=devicePositionService.getPosition(DevicePositionCode.transferModuleXPickTrayMoveDistance).getDistance();
//获取指定加热模块上方点位
Point3D heatAreaTrayPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(heatModuleId);
String targetHeatModuleCodeStr = cmdDTO.getStringParam("heatModuleCode");
HeatModuleCode targetHeatModuleCode = HeatModuleCode.valueOf(targetHeatModuleCodeStr);//目标加热模块
Point3D targetHeatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(targetHeatModuleCode);//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
Double transferModuleZPickTrayDownPositon = devicePositionService.getPosition(DevicePositionCode.transferModuleZPickTrayDownPositon).getPositon();//获取转运模块Z轴拿取托盘时下降的高度位置
Point3D feedAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.feedAreaTrayPoint).getPoint3D();//获取上料区托盘夹爪位置点
return runAsync(() -> {
try {
//升高加液电机高度 回0点
solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);
//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(), heatAreaTrayPoint3D);
//下降z轴
transferModuleService.transferZMove(transferModuleZPickTrayDownPositon.getZ());
//移动x轴向右脱离托盘
transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -transferModuleXPickTrayMoveDistance);
//z轴返回0点
solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(),0);
//设置加热区有托盘
deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId).setTrayStatus(true);
} finally {
deviceStateService.getCommandMutexState().get().setMoveToHeatAreaCommandExecuting(false);
if (!deviceStateService.getDeviceState().getTransferModule().isTrayStatus()) { //判断机械臂上是否有托盘
//机械臂上无托盘，取上料区托盘
transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.getX() + transferModuleXPickTrayMoveDistance);//将X轴移动至上料区托盘夹取点 + 进出卡槽移动距离
transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), transferModuleZPickTrayDownPositon);//Z轴下降至夹取点，使托盘落入石墨加热盘
transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -transferModuleXPickTrayMoveDistance);//X轴进入卡槽
transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高
}
transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), targetHeatModuleTrayClawPoint3D.getX());//将X轴移动至目标加热模块托盘夹取点
transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), transferModuleZPickTrayDownPositon);//Z轴下降至夹取点，使托盘落入石墨加热盘
transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), transferModuleXPickTrayMoveDistance);//X轴移出卡槽
transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高
deviceStateService.getDeviceState().getHeatModuleByCode(targetHeatModuleCode).setTrayStatus(true);//设置目标加热区有托盘
});
}
}

74
src/main/java/com/iflytop/sgs/app/cmd/control/MoveToLiquidAreaCommand.java
View File

@ -2,8 +2,6 @@ package com.iflytop.sgs.app.cmd.control;
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.SolutionModuleState;
import com.iflytop.sgs.app.model.dto.CmdDTO;
import com.iflytop.sgs.app.service.api.DevicePositionService;
import com.iflytop.sgs.app.service.device.DeviceStateService;
@ -13,8 +11,6 @@ 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.data.DevicePositionCode;
import com.iflytop.sgs.common.exception.AppException;
import com.iflytop.sgs.common.result.ResultCode;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
@ -30,7 +26,6 @@ import java.util.concurrent.CompletableFuture;
@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;
private final DevicePositionService devicePositionService;
@ -38,45 +33,42 @@ public class MoveToLiquidAreaCommand extends BaseCommandHandler {
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
if (deviceStateService.getCommandMutexState().get().isMoveToSolutionAreaCommandExecuting()) {
throw new AppException(ResultCode.COMMAND_ALREADY_EXECUTING);
String targetHeatModuleCodeStr = cmdDTO.getStringParam("heatModuleCode");
HeatModuleCode targetHeatModuleCode;//目标加热模块
if (targetHeatModuleCodeStr != null) {//目标加热模块非必填，如果没有传递目标加热模块则尝试获取上料区是否有托盘
targetHeatModuleCode = HeatModuleCode.valueOf(targetHeatModuleCodeStr);
}else{
targetHeatModuleCode = null;
//TODO 尝试获取上料区是否有托盘，如果没有托盘则提示错误
}
if (deviceStateService.getCommandMutexState().get().isMoveToHeatAreaCommandExecuting()) {
throw new AppException(ResultCode.CMD_BUSY);
}
String heatId = cmdDTO.getStringParam("heatId");
HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
HeatModuleState heatModuleState=deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId);
SolutionModuleState solutionModuleState=deviceStateService.getDeviceState().getSolutionModule();
//转运模块Z轴拿取托盘时起下降的高度位置
Point3D transferModuleZPickTrayDownPositon = devicePositionService.getPosition(DevicePositionCode.transferModuleZPickTrayDownPositon).getPoint3D();
//转运模块Z轴移动托盘时起托盘的高度位置
Point3D transferModuleZTrayUpMovePositon = devicePositionService.getPosition(DevicePositionCode.transferModuleZTrayUpMovePositon).getPoint3D();
//转运模块X轴拿取托盘进出卡槽移动距离
double transferModuleXPickTrayMoveDistance=devicePositionService.getPosition(DevicePositionCode.transferModuleXPickTrayMoveDistance).getDistance();
//获取指定加热模块上方点位
Point3D heatAreaTrayPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(heatModuleId);
//获取加液区上方点位
Point3D liquidAreaTrayPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();
Point3D targetHeatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(targetHeatModuleCode);//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
Double transferModuleZPickTrayDownPositon = devicePositionService.getPosition(DevicePositionCode.transferModuleZPickTrayDownPositon).getPositon();//获取转运模块Z轴拿取托盘时下降的高度位置
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
return runAsync(() -> {
try {
//升高加液电机高度 回0点
solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);
//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(), heatAreaTrayPoint3D);
//下降z轴
transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(),transferModuleZPickTrayDownPositon.getZ());
//移动x轴向左托起托盘
transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), transferModuleXPickTrayMoveDistance);
//z轴返回0点
solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(),0);
//移动到建邺区
transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint);
//设置加液区有托盘 todo
//deviceStateService.getDeviceState().getSolutionModule().setTrayStatus(1);
} finally {
deviceStateService.getCommandMutexState().get().setMoveToHeatAreaCommandExecuting(false);
if(targetHeatModuleCode == null){
//获取上料区托盘
transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.getX() + transferModuleXPickTrayMoveDistance);//将X轴移动至上料区托盘夹取点 + 进出卡槽移动距离
transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), transferModuleZPickTrayDownPositon);//Z轴下降至夹取点，使托盘落入石墨加热盘
transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -transferModuleXPickTrayMoveDistance);//X轴进入卡槽
transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高
deviceStateService.getDeviceState().getSolutionModule().setFeedAreaTrayStatus(false);//设定上料区托盘状态
deviceStateService.getDeviceState().getTrayByHeatModuleCode(targetHeatModuleCode).setInFeedArea(false);//设定托盘不在上料区中
}else{
//获取目标加热模块托盘
transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), targetHeatModuleTrayClawPoint3D.getX() + transferModuleXPickTrayMoveDistance);//将X轴移动至目标加热模块托盘夹取点 + 进出卡槽移动距离
transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), transferModuleZPickTrayDownPositon);//Z轴下降至夹取点，使托盘落入石墨加热盘
transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -transferModuleXPickTrayMoveDistance);//X轴进入卡槽
transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高
deviceStateService.getDeviceState().getHeatModuleByCode(targetHeatModuleCode).setTrayStatus(false);//设定目标加热模块托盘状态
deviceStateService.getDeviceState().getTrayByHeatModuleCode(targetHeatModuleCode).setInHeatModule(false);//设定托盘不在加热模块中
}
transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D.getX());//将X轴移动至加液时托盘位置点
deviceStateService.getDeviceState().getTrayByHeatModuleCode(targetHeatModuleCode).setInSolutionPositon(true);//设定托盘在加液位中
});
}
}

12
src/main/java/com/iflytop/sgs/app/model/bo/status/device/DeviceState.java
View File

@ -59,4 +59,16 @@ public class DeviceState {
return null;
}
/**
* 根据指定加热模块获取所属托盘
*/
public synchronized TrayState getTrayIn(HeatModuleCode heatModuleCode) {
for (TrayState t : trays) {
if (heatModuleCode.equals(t.getHeatModuleCode())) {
return t;
}
}
return null;
}
}

3
src/main/java/com/iflytop/sgs/app/service/device/module/HeatModuleService.java
View File

@ -70,6 +70,9 @@ public class HeatModuleService {
* 获取指定加热区托盘夹爪点位
*/
public Point3D getHeatModuleTrayClawPoint3D(HeatModuleCode heatModuleId) {
if(heatModuleId == null){
return null;
}
DevicePosition devicePosition = switch (heatModuleId) {
case heat_module_01 -> devicePositionService.getPosition(DevicePositionCode.heatArea1TrayClawPoint);
case heat_module_02 -> devicePositionService.getPosition(DevicePositionCode.heatArea2TrayClawPoint);

Write Preview
Loading…
Cancel
Save