From cbd99ee2596b122305a618e2cbde05559a021094 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E7=8E=8B?= <1063331231@qq.com>
Date: Sat, 14 Jun 2025 17:15:58 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E9=98=BB=E5=A1=9E=E9=98=9F?=
 =?UTF-8?q?=E5=88=97?=
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---
 .../device/module/TransferModuleService.java       | 39 ++++++++++++++++------
 1 file changed, 28 insertions(+), 11 deletions(-)

diff --git a/src/main/java/com/iflytop/sgs/app/service/device/module/TransferModuleService.java b/src/main/java/com/iflytop/sgs/app/service/device/module/TransferModuleService.java
index d2583a4..57ee571 100644
--- a/src/main/java/com/iflytop/sgs/app/service/device/module/TransferModuleService.java
+++ b/src/main/java/com/iflytop/sgs/app/service/device/module/TransferModuleService.java
@@ -30,9 +30,11 @@ public class TransferModuleService {
     private final DeviceCommandService deviceCommandService;
     private final DeviceStateService deviceStateService;
     private final SystemConfigService systemConfigService;
-    private final BlockingQueue<Thread> solutionQueue = new ArrayBlockingQueue<>(10);
-    private final BlockingQueue<Thread> annealQueue = new ArrayBlockingQueue<>(10);
-    private final BlockingQueue<Thread> heatQueue = new ArrayBlockingQueue<>(10);
+    private final BlockingQueue<Thread> thinQueue = new ArrayBlockingQueue<>(1);
+    private final BlockingQueue<Thread> thickQueue = new ArrayBlockingQueue<>(3);
+    private final BlockingQueue<Thread> annealQueue = new ArrayBlockingQueue<>(3);
+    private final BlockingQueue<Thread> heatQueue = new ArrayBlockingQueue<>(1);
+    private final BlockingQueue<Thread> feedQueue = new ArrayBlockingQueue<>(3);
 
     /**
      * 申请使用转运模块。
@@ -46,12 +48,18 @@ public class TransferModuleService {
             // 1. 先把自己加入对应类型的队列尾部
             Thread current = Thread.currentThread();
             switch (type) {
-                case move_liquid:
-                    solutionQueue.add(current);
+                case move_feed:
+                    feedQueue.add(current);
                     break;
                 case move_heat:
                     heatQueue.add(current);
                     break;
+                case move_thin:
+                    thinQueue.add(current);
+                    break;
+                case move_thick:
+                    thickQueue.add(current);
+                    break;
                 case move_anneal:
                     annealQueue.add(current);
                     break;
@@ -69,10 +77,14 @@ public class TransferModuleService {
                 } else {
                     // 模块空闲时，再判断当前线程是否是“四个队列”里优先级最高且队头的那个
                     Thread head = null;
-                    if (!heatQueue.isEmpty()) {
+                    if (!feedQueue.isEmpty()) {
+                        head = feedQueue.peek();
+                    } else if (!heatQueue.isEmpty()) {
                         head = heatQueue.peek();
-                    } else if (!solutionQueue.isEmpty()) {
-                        head = solutionQueue.peek();
+                    } else if (!thinQueue.isEmpty()) {
+                        head = thinQueue.peek();
+                    } else if (!thickQueue.isEmpty()) {
+                        head = thickQueue.peek();
                     } else if (!annealQueue.isEmpty()) {
                         head = annealQueue.peek();
                     }
@@ -121,11 +133,17 @@ public class TransferModuleService {
      */
     private void removeCurrentFromQueue(CraftsTransferTypeCode type, Thread current) {
         switch (type) {
+            case move_feed:
+                feedQueue.remove(current);
+                break;
             case move_heat:
                 heatQueue.remove(current);
                 break;
-            case move_liquid:
-                solutionQueue.remove(current);
+            case move_thin:
+                thinQueue.remove(current);
+                break;
+            case move_thick:
+                thickQueue.remove(current);
                 break;
             case move_anneal:
                 annealQueue.remove(current);
@@ -222,7 +240,6 @@ public class TransferModuleService {
      * 转运机械臂Z轴移动到0点
      */
     public void transferZMoveZero(String cmdId, String cmdCode) throws Exception {
-        //todo z轴存在丢步问题 用回原点代替归0
         DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferZMove(0.0);
         //DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferZOrigin();
         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);