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@ -1,47 +1,278 @@ |
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package com.iflytop.sgs.app.service.crafts; |
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import cn.hutool.core.lang.Assert; |
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import cn.hutool.json.JSONArray; |
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import cn.hutool.json.JSONObject; |
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import com.iflytop.sgs.app.model.bo.CraftsStep; |
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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.HeatModuleState; |
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import com.iflytop.sgs.app.model.entity.Solutions; |
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import com.iflytop.sgs.app.service.api.ContainerService; |
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import com.iflytop.sgs.app.service.api.DevicePositionService; |
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import com.iflytop.sgs.app.service.api.SolutionsService; |
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import com.iflytop.sgs.app.service.api.SystemConfigService; |
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import com.iflytop.sgs.app.service.device.DeviceSensorService; |
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import com.iflytop.sgs.app.service.device.DeviceStateService; |
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import com.iflytop.sgs.app.service.device.module.HeatModuleService; |
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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.app.ws.server.WebSocketSender; |
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import com.iflytop.sgs.common.enums.DeviceSensorCode; |
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import com.iflytop.sgs.common.enums.HeatModuleCode; |
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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.Service; |
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/** |
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* 工艺步骤执行服务 |
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*/ |
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@Slf4j |
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@Service |
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@RequiredArgsConstructor |
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public class CraftsStepService { |
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private final DevicePositionService devicePositionService; |
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private final ContainerService containerService; |
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private final WebSocketSender webSocketService; |
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private final DeviceStateService deviceStateService; |
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private final HeatModuleService heatModuleService; |
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private final SolutionModuleService solutionModuleService; |
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private final DevicePositionService devicePositionService; |
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private final DeviceStateService deviceStateService; |
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private final DeviceSensorService deviceSensorService; |
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private final TransferModuleService transferModuleService; |
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private final SolutionsService solutionsService; |
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private final SystemConfigService systemConfigService; |
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/** |
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* 执行单个工艺步骤 |
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* |
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* @param heatId 加热区 ID |
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* @param step 工艺步骤，包括 method 和 params |
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* @param heatModuleCode 加热区 ID |
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* @param step 工艺步骤，包括 method 和 params |
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* @return true 表示执行成功，false 表示失败 |
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*/ |
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public boolean executeStep(String heatId, CraftsStep step) throws Exception { |
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public boolean executeStep(HeatModuleCode heatModuleCode, CraftsStep step) throws Exception { |
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String method = step.getMethod(); |
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JSONObject params = step.getParams(); |
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return switch (method) { |
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case "preHeat" -> preHeat(heatModuleCode, params); |
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case "feedAreaMoveToLiquidArea" -> feedAreaMoveToLiquidArea(heatModuleCode, params); |
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case "addLiquid" -> addLiquid(heatModuleCode, params); |
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case "reduceLiquid" -> reduceLiquid(heatModuleCode, params); |
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case "LiquidAreaMoveToHeatArea"->LiquidAreaMoveToHeatArea(heatModuleCode, params); |
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case "heatStart"->heatStart(heatModuleCode, params); |
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case "fanStart"->fanStart(heatModuleCode, params); |
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case "heatMovetoAnnealArea"->heatMovetoAnnealArea(heatModuleCode, params); |
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case "heatAreaMoveToLiquidArea"->heatAreaMoveToLiquidArea(heatModuleCode, params); |
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//预热 移至加液区 加液 加热 移动至加液区 抽液 加液 预热 移动至加热区 加热 抽液 清洗 烘干 退火 回上来料区 |
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/* |
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*preHeat() double temperature |
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* |
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* |
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* |
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* */ |
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//加液（弱、强、水、量） |
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//抽取 |
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//加热（温度、时间） |
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//退火（温度、时间） |
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// |
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return switch (method) { |
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default -> true; |
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}; |
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} |
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/* |
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* |
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* 预热 |
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* */ |
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public boolean preHeat(HeatModuleCode heatModuleCode, JSONObject params) throws Exception { |
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Double temperature=params.getDouble("temperature"); |
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heatModuleService.heatRodOpen(heatModuleCode, temperature); |
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deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTemperature(temperature); |
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return true; |
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} |
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/* |
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* 上料区移动至加液区 |
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* */ |
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public boolean feedAreaMoveToLiquidArea(HeatModuleCode heatModuleCode, JSONObject params) throws Exception { |
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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 |
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Point3D feedAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.feedAreaTrayPoint).getPoint3D();//获取上料区托盘夹爪位置点 |
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Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液时托盘位置点 |
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boolean feedTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(heatModuleCode);//获取传感器状态 |
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Assert.isTrue(feedTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//加热区无托盘 |
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transferModuleService.transferXMove(feedAreaTrayPoint3D.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 |
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transferModuleService.transferZMove(feedAreaTrayPoint3D.getZ());//Z轴下降至夹取点 |
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transferModuleService.transferXMoveBy(-transferModuleXPickTrayMoveDistance);//X轴进入卡槽 |
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transferModuleService.transferZMoveZero();//Z轴抬升至最高 |
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transferModuleService.transferMove(liquidAreaTrayPoint3D);//移动至加液时托盘位置点 |
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return true; |
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} |
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/* |
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* 加液 |
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* */ |
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public boolean addLiquid(HeatModuleCode heatModuleCode, JSONObject params) throws Exception { |
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boolean clawTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取传感器状态 |
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Assert.isTrue(clawTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//加液区无托盘 |
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Integer solutionId = params.getInt("solutionId"); |
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double volume = params.getDouble("volume");//量 |
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JSONArray columns = params.getJSONArray("columns"); |
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Solutions solutions = solutionsService.getById(solutionId);//获取溶液 |
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ValveStateCode valveStateCode = ValveStateCode.valueOf(solutions.getCode());//根据溶液获取电磁阀code |
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Integer currentChannel = deviceSensorService.readLiquidValvePosition();//获取当前阀门的状态 |
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ValveStateCode oldValveState = ValveStateCode.thick.getByChannel(currentChannel);//获取当前电磁阀的值 |
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Double trayTubeHorizontalSpacingDistance = devicePositionService.getPosition(DevicePositionCode.trayTubeHorizontalSpacingDistance).getDistance(); //托盘试管水平间距 |
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double preFillDistance = 0; |
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Point3D liquidAreaTrayPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D(); //获取加液区上方托盘点位 |
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if (!oldValveState.equals(valveStateCode)) {//判断是否与当前加酸的通道一致 不一致排空 |
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double drainDistance = 0; |
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switch (oldValveState) { |
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case ValveStateCode.thin -> { |
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drainDistance = devicePositionService.getPosition(DevicePositionCode.thinPreFillDistance).getDistance();//稀硝酸预充距离 |
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} |
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case ValveStateCode.thick -> { |
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drainDistance = devicePositionService.getPosition(DevicePositionCode.thickPreFillDistance).getDistance();//浓硝酸预充距离 |
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} |
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case ValveStateCode.water -> { |
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drainDistance = devicePositionService.getPosition(DevicePositionCode.waterPreFillDistance).getDistance();//蒸馏水预充距离 |
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} |
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} |
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solutionModuleService.liquidValveSwitch(ValveStateCode.waste);//废液通道打开 |
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solutionModuleService.liquidPumpMove(-drainDistance);//排空 |
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switch (valveStateCode) { |
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case ValveStateCode.thin -> { |
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double distance = devicePositionService.getPosition(DevicePositionCode.thinPreFillDistance).getDistance();//稀硝酸预充距离 |
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preFillDistance += distance; |
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} |
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case ValveStateCode.thick -> { |
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double distance = devicePositionService.getPosition(DevicePositionCode.thickPreFillDistance).getDistance();//浓硝酸预充距离 |
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preFillDistance += distance; |
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} |
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case ValveStateCode.water -> { |
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double distance = devicePositionService.getPosition(DevicePositionCode.waterPreFillDistance).getDistance();//蒸馏水预充距离 |
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preFillDistance += distance; |
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} |
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} |
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} |
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double scale = systemConfigService.getSystemConfigDoubleByCode(valveStateCode.getSystemConfigCode());//根据溶液获取转换比 |
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double position = volume * scale * 8 + preFillDistance;//todo 需要测试加液量是否准确 |
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solutionModuleService.liquidValveSwitch(valveStateCode);//电磁阀对应通道打开 |
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deviceStateService.getDeviceState().getSolutionModule().setValveState(valveStateCode);//设置阀门状态 |
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for (int i = 0; i < columns.size(); i++) { |
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int column = columns.getInt(i); |
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if (column > 0 && column < 6) { |
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double distance = (column - 1) * trayTubeHorizontalSpacingDistance;//机械臂右移距离 |
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transferModuleService.transferXMove(liquidAreaTrayPoint.getX() + distance);//机械臂移动到试管位置 |
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solutionModuleService.solutionMotorMove(10);//加液机械臂下降 todo 未测量 测量后要改成 solutionModuleMotorDownInTubeAddPositon |
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solutionModuleService.liquidPumpMove(0.5);//加液 position设置固定值 todo 未测量 测量后要改成distance |
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solutionModuleService.solutionMotorMoveZero();//加液机械臂上升 |
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} |
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} |
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return true; |
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} |
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/* |
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* 抽液 |
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* */ |
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public boolean reduceLiquid(HeatModuleCode heatModuleCode, JSONObject params) throws Exception { |
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boolean clawTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取传感器状态 |
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Assert.isTrue(clawTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//加液区无托盘 |
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solutionModuleService.liquidValveSwitch(ValveStateCode.waste);//电磁阀对应通道打开 |
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Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液时托盘位置点 |
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Double trayTubeHorizontalSpacingDistance = devicePositionService.getPosition(DevicePositionCode.trayTubeHorizontalSpacingDistance).getDistance();//获取托盘试管水平间距 |
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JSONArray columns = params.getJSONArray("columns"); |
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for (int i = 0; i < columns.size(); i++) { |
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int column = columns.getInt(i); |
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if (column > 0 && column < 6) { |
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double distance = (columns.getInt(i) - 1) * trayTubeHorizontalSpacingDistance; |
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transferModuleService.transferXMove(liquidAreaTrayPoint3D.getX() + distance);//机械臂移动到试管位置 |
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solutionModuleService.solutionMotorMove(10);//加液模块下降进入试管 solutionModuleMotorDownInTubeExtPositon todo |
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solutionModuleService.liquidPumpMove(0.1);//抽液 reduceNumber0.1 |
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solutionModuleService.solutionMotorMoveZero();//加液模块上升 |
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} |
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} |
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solutionModuleService.solutionMotorMoveZero();//加液模块上升至最高，移出试管 |
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transferModuleService.transferMove(liquidAreaTrayPoint3D);//移动至托盘至加液位置点 |
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return true; |
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} |
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/* |
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* 加液移至加热区 |
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* */ |
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public boolean LiquidAreaMoveToHeatArea(HeatModuleCode heatModuleCode, JSONObject params) throws Exception { |
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boolean clawTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取传感器状态 |
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Assert.isTrue(clawTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//加液区无托盘 |
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boolean trayTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(heatModuleCode);//获取传感器状态 |
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Assert.isTrue(!trayTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_OCCUPIED));//加液区无托盘 |
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Point3D targetHeatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(heatModuleCode);//获取目标加热模块托盘夹取点 |
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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 |
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transferModuleService.transferXMove(targetHeatModuleTrayClawPoint3D.getX());//将X轴移动至目标加热模块托盘夹取点 |
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transferModuleService.transferZMove(targetHeatModuleTrayClawPoint3D.getZ());//Z轴下降至夹取点，使托盘落入石墨加热盘 |
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transferModuleService.transferXMoveBy(transferModuleXPickTrayMoveDistance);//X轴移出卡槽 |
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transferModuleService.transferZMoveZero();//Z轴抬升至最高 |
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return true; |
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} |
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/* |
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* 加热保持 |
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* */ |
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public boolean heatStart(HeatModuleCode heatModuleCode, JSONObject params) throws Exception { |
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Integer time=params.getInt("time");//秒 |
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delay(time); |
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return true; |
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} |
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/* |
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* 散热 |
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* */ |
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public boolean fanStart(HeatModuleCode heatModuleCode, JSONObject params) throws Exception { |
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heatModuleService.fanStart(heatModuleCode); |
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return true; |
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} |
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/* |
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* 加热区转移至退火区 |
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* */ |
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public boolean heatMovetoAnnealArea(HeatModuleCode heatModuleCode, JSONObject params) throws Exception { |
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boolean trayTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(heatModuleCode);//获取传感器状态 |
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Assert.isTrue(trayTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_OCCUPIED));//加热区有托盘 |
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boolean annealTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(heatModuleCode);//获取传感器状态 |
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Assert.isTrue(!annealTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_OCCUPIED));//退火区不存在托盘 |
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Point3D heatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(heatModuleCode);//获取加热模块托盘夹取点 |
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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 |
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Point3D targetHeatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(HeatModuleCode.heat_module_04);//获取目标加热模块托盘夹取点 |
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transferModuleService.transferXMove(heatModuleTrayClawPoint3D.getX() + transferModuleXPickTrayMoveDistance);//将X轴移动至加热区托盘夹取点 + 进出卡槽移动距离 |
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transferModuleService.transferZMove(heatModuleTrayClawPoint3D.getZ());//Z轴下降至夹取点，使托盘落入石墨加热盘 |
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transferModuleService.transferXMoveBy(-transferModuleXPickTrayMoveDistance);//X轴进入卡槽 |
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transferModuleService.transferZMoveZero();//Z轴抬升至最高 |
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transferModuleService.transferXMove(targetHeatModuleTrayClawPoint3D.getX());//将X轴移动至目标加热模块托盘夹取点 |
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transferModuleService.transferZMove(targetHeatModuleTrayClawPoint3D.getZ());//Z轴下降至夹取点，使托盘落入石墨加热盘 |
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transferModuleService.transferXMoveBy(transferModuleXPickTrayMoveDistance);//X轴移出卡槽 |
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transferModuleService.transferZMoveZero();//Z轴抬升至最高 |
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return true; |
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} |
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/* |
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* 加热区移动至机加液区 |
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* */ |
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public boolean heatAreaMoveToLiquidArea(HeatModuleCode heatModuleCode, JSONObject params) throws Exception { |
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Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液时托盘位置点 |
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Point3D targetHeatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(heatModuleCode);//获取目标加热模块托盘夹取点 |
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boolean trayTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(heatModuleCode);//获取传感器状态 |
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Assert.isTrue(trayTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_OCCUPIED));//加热区托盘判断 |
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Assert.isTrue(deviceStateService.getDeviceState().getSolutionModule().isIdle(),() -> new AppException(ResultCode.SOLUTION_MODULE_IS_BUSY)); |
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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 |
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transferModuleService.transferXMove(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 |
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transferModuleService.transferZMove(targetHeatModuleTrayClawPoint3D.getZ());//Z轴下降至夹取点，使托盘落入石墨加热盘 |
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transferModuleService.transferXMoveBy(-transferModuleXPickTrayMoveDistance);//X轴进入卡槽 |
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transferModuleService.transferZMoveZero();//Z轴抬升至最高 |
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transferModuleService.transferMove(liquidAreaTrayPoint3D);//移动至加液时托盘位置点 |
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return true; |
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} |
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/** |
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* 延时等待 |
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@ -54,4 +285,13 @@ public class CraftsStepService { |
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} |
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return true; |
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} |
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/** |
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* 工艺执行完毕 |
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*/ |
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public void finish(HeatModuleCode heatModuleCode) throws Exception { |
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//移动至上料区 todo |
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} |
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} |
