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fix:添加溶液时根据阀门的状态动态添加预充distance

master
王梦远 2 months ago
parent
1716a44077
commit
bda082dd92
2 changed files with 30 additions and 24 deletions
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  1. 46
      src/main/java/com/iflytop/sgs/app/cmd/control/LiquidAddCommand.java
  2. 8
      src/main/resources/sql/init.sql

46
src/main/java/com/iflytop/sgs/app/cmd/control/LiquidAddCommand.java
View File

@ -65,34 +65,43 @@ public class LiquidAddCommand extends BaseCommandHandler {
double volume = jsonObject.getDouble("volume");//量
Solutions solutions = solutionsService.getById(solutionId);//获取溶液
ValveStateCode valveStateCode = ValveStateCode.valueOf(solutions.getName());//根据溶液获取电磁阀code
ValveState valveState=deviceStateService.getDeviceState().getSolutionModule().getValveState();//获取当前电磁阀的值
if(!valveState.getState().equals(valveStateCode)) {//判断是否与当前加酸的通道一致
switch (valveStateCode) {
ValveStateCode oldValveState = deviceStateService.getDeviceState().getSolutionModule().getValveState().getState();//获取当前电磁阀的值
double preFillDistance = 0;
if (!oldValveState.equals(valveStateCode)) {//判断是否与当前加酸的通道一致 不一致排空
switch (oldValveState) {
case ValveStateCode.thin -> {
solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), ValveStateCode.waste);//废液通道打开
double distance=devicePositionService.getPosition(DevicePositionCode.thinPreFillDistance).getDistance();//稀硝酸预充距离
double distance = devicePositionService.getPosition(DevicePositionCode.thinPreFillDistance).getDistance();//稀硝酸预充距离
solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), -distance);//排空
solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), ValveStateCode.thin);//废液通道打开
solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), distance);//预充
}
case ValveStateCode.thick -> {
solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), valveStateCode);//电磁阀对应通道打开
double distance=devicePositionService.getPosition(DevicePositionCode.thickPreFillDistance).getDistance();//浓硝酸预充距离
solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), distance);//预充
solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), ValveStateCode.waste);//废液通道打开
double distance = devicePositionService.getPosition(DevicePositionCode.thickPreFillDistance).getDistance();//浓硝酸预充距离
solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), -distance);//排空
}
case ValveStateCode.water -> {
solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), valveStateCode);//电磁阀对应通道打开
double distance=devicePositionService.getPosition(DevicePositionCode.thickPreFillDistance).getDistance();//水预充距离
solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), distance);//预充
solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), ValveStateCode.waste);//废液通道打开
double distance = devicePositionService.getPosition(DevicePositionCode.waterPreFillDistance).getDistance();//蒸馏水预充距离
solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), -distance);//排空
}
}
switch (valveStateCode) {
case ValveStateCode.thin -> {
double distance = devicePositionService.getPosition(DevicePositionCode.thinPreFillDistance).getDistance();//稀硝酸预充距离
preFillDistance += distance;
}
case ValveStateCode.thick -> {
double distance = devicePositionService.getPosition(DevicePositionCode.thickPreFillDistance).getDistance();//浓硝酸预充距离
preFillDistance += distance;
}
case ValveStateCode.water -> {
double distance = devicePositionService.getPosition(DevicePositionCode.waterPreFillDistance).getDistance();//蒸馏水预充距离
preFillDistance += distance;
}
case ValveStateCode.waste -> {
solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), valveStateCode);//电磁阀对应通道打开
}//已经排空
}
}
double scale = Double.parseDouble(systemConfigService.getSystemConfigValueByCode(valveStateCode.getSystemConfigCode()));//根据溶液获取转换比
double position = volume * scale * 8;//加液泵的转数
double position = volume * scale * 8 + preFillDistance;//加液泵的转数
solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), valveStateCode);//电磁阀对应通道打开
double distance = (column - 1) * trayTubeHorizontalSpacingDistance;//机械臂左移距离
transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -distance);//机械臂左移
@ -100,9 +109,6 @@ public class LiquidAddCommand extends BaseCommandHandler {
solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), position);//加液
solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//加液机械臂上升
transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint);//移动至加液位置
}
solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//加液机械臂上升
transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint);//移动至加液位置

8
src/main/resources/sql/init.sql
View File

@ -124,10 +124,10 @@ CREATE TABLE IF NOT EXISTS container
);
INSERT OR IGNORE INTO container (id, type, code, solution_id, pump_id, capacity_total, capacity_used)
VALUES (1, 0, 'container_01', 1, 'liquid_pump', 5000, 0),
(2, 0, 'container_02', 2, 'liquid_pump', 5000, 2500),
(3, 0, 'container_03', 3, 'liquid_pump', 5000, 2600),
(4, 1, 'container_04', 4, 'liquid_pump', 5000, 0);
VALUES (1, 0, 'container_01', 1, 'liquid_pump', 10000, 0),
(2, 0, 'container_02', 2, 'liquid_pump', 5000, 0),
(3, 0, 'container_03', 3, 'liquid_pump', 20000, 0),
(4, 1, 'container_04', 4, 'liquid_pump', 40000, 0);
-- solutions 溶液 表

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