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fix:业务指令修改

master
王梦远 2 months ago
parent
f743f72882
commit
acead54696
4 changed files with 108 additions and 63 deletions
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  1. 61
      src/main/java/com/iflytop/sgs/app/cmd/control/CleanStartCommand.java
  2. 13
      src/main/java/com/iflytop/sgs/app/cmd/control/CleanStopCommand.java
  3. 36
      src/main/java/com/iflytop/sgs/app/cmd/control/MoveToHeatAreaCommand.java
  4. 61
      src/main/java/com/iflytop/sgs/app/cmd/control/MoveToLiquidAreaCommand.java

61
src/main/java/com/iflytop/sgs/app/cmd/control/CleanStartCommand.java
View File

@ -1,12 +1,22 @@
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.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;
import com.iflytop.sgs.app.service.device.module.HeatModuleService;
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.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;
@ -21,13 +31,60 @@ import java.util.concurrent.CompletableFuture;
@RequiredArgsConstructor
@CommandMapping("heat_start")//业务指令注解
public class CleanStartCommand extends BaseCommandHandler {
private final HeatModuleService heatModuleService;
private final SolutionModuleService solutionModuleService;
private final DevicePositionService devicePositionService;
private final TransferModuleService transferModuleService;
private final DeviceStateService deviceStateService;
private final HeatModuleService heatModuleService;
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
JSONArray heatIdJsonArray = cmdDTO.getJSONArrayParam("heatId");
JSONArray jsonArray=cmdDTO.getJSONArrayParam("index");
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.getHeatAreaTrayClawPoint3D(heatModuleId);
//获取加液区上方点位
Point3D liquidAreaTrayPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();
//判断加热区有无托盘
Assert.isTrue(heatModuleState.getTrayStatus(),new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY,ResultCode.TARGET_HEAT_MODULE_NO_TRAY.getMsg()));
return runAsync(() -> {
//机械臂移动到加液区位置
transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);
//加液臂z下降
transferModuleService.transferZMoveBy(clawTrayHeight);
//加液臂x左移 夹紧托盘
transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayGrip);
//加液臂z上移动
transferModuleService.transferZMoveBy(-clawTrayHeight);
for (int i=0;i<jsonArray.size();i++) {
//x z 移动到index1位置 todo 坐标位置
transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), new Point3D());
//加液臂下降 至加液位置 todo 坐标位置
solutionModuleService.motorLiquidMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 100);
//抽液
//加水 todo
//抽液
//加液臂抬升至安全距离 todo 坐标位置
solutionModuleService.motorLiquidMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 100);
}
});
}

13
src/main/java/com/iflytop/sgs/app/cmd/control/CleanStopCommand.java
View File

@ -2,11 +2,16 @@ package com.iflytop.sgs.app.cmd.control;
import cn.hutool.json.JSONArray;
import com.iflytop.sgs.app.core.BaseCommandHandler;
import com.iflytop.sgs.app.model.bo.Point3D;
import com.iflytop.sgs.app.model.dto.CmdDTO;
import com.iflytop.sgs.app.service.api.DevicePositionService;
import com.iflytop.sgs.app.service.device.DeviceStateService;
import com.iflytop.sgs.app.service.device.module.HeatModuleService;
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.data.DevicePositionCode;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
@ -21,14 +26,16 @@ import java.util.concurrent.CompletableFuture;
@RequiredArgsConstructor
@CommandMapping("heat_start")//业务指令注解
public class CleanStopCommand extends BaseCommandHandler {
private final HeatModuleService heatModuleService;
private final DeviceStateService deviceStateService;
private final SolutionModuleService solutionModuleService;
private final DevicePositionService devicePositionService;
private final TransferModuleService transferModuleService;
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
JSONArray heatIdJsonArray = cmdDTO.getJSONArrayParam("heatId");
return runAsync(() -> {
});
}
}

36
src/main/java/com/iflytop/sgs/app/cmd/control/MoveToHeatAreaCommand.java
View File

@ -56,40 +56,30 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
HeatModuleState heatModuleState=deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId);
SolutionModuleState solutionModuleState=deviceStateService.getDeviceState().getSolutionModule();
//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(solutionModuleState.isPumping(),"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
double clawTrayGrip = devicePositionService.getPosition(DevicePositionCode.clawTrayGrip).getDistance();
//获取机械臂夹取托盘的纵向高度
double clawTrayHeight = devicePositionService.getPosition(DevicePositionCode.clawTrayHeight).getDistance();
//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 heatAreaTrayClawPoint3D = heatModuleService.getHeatAreaTrayClawPoint3D(heatModuleId);
//获取加液模块的上方点位
Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();
Point3D heatAreaTrayPoint3D = heatModuleService.getHeatAreaTrayClawPoint3D(heatModuleId);
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);
//升高加液电机高度 回0点
solutionModuleService.motorLiquidMove(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(), heatAreaTrayClawPoint3D);
transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaTrayPoint3D);
//下降z轴
transferModuleService.transferZMove(clawTrayHeight);
transferModuleService.transferZMove(transferModuleZPickTrayDownPositon.getZ());
//移动x轴向右脱离托盘
transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -clawTrayGrip);
transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -transferModuleXPickTrayMoveDistance);
//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);
deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleId).setTrayStatus(true);
} finally {
deviceStateService.getCommandMutexState().get().setMoveToHeatAreaCommandExecuting(false);
}

61
src/main/java/com/iflytop/sgs/app/cmd/control/MoveToLiquidAreaCommand.java
View File

@ -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.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;
@ -44,48 +47,36 @@ public class MoveToLiquidAreaCommand extends BaseCommandHandler {
}
String heatId = cmdDTO.getStringParam("heatId");
HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
//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
double clawTrayGrip = devicePositionService.getPosition(DevicePositionCode.clawTrayGrip).getDistance();
//获取机械臂夹取托盘的纵向高度
double clawTrayHeight = devicePositionService.getPosition(DevicePositionCode.clawTrayHeight).getDistance();//获取z轴夹取托盘的下降高度
//获取加液模块上方点位
Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();
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.getHeatAreaTrayClawPoint3D(heatModuleId);
//校验目标加热位是否有托盘
try {
deviceStateService.getCommandMutexState().get().setMoveToSolutionAreaCommandExecuting(true);
} catch (Exception e) {
deviceStateService.getCommandMutexState().get().setMoveToSolutionAreaCommandExecuting(false);
throw e;
}
//获取加液区上方点位
Point3D liquidAreaTrayPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();
return runAsync(() -> {
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
//升高加液电机高度 回0点
solutionModuleService.motorLiquidMove(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(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 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());
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.motorLiquidMove(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().setMoveToSolutionAreaCommandExecuting(false);
deviceStateService.getCommandMutexState().get().setMoveToHeatAreaCommandExecuting(false);
}
});
}

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