From cf62dfaf30e577187e5d780c2743eb454e538722 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= Date: Wed, 28 May 2025 19:36:58 +0800 Subject: [PATCH] =?UTF-8?q?=E8=B0=83=E6=95=B4=E5=88=9D=E5=A7=8B=E5=8C=96?= =?UTF-8?q?=E6=96=B9=E5=BC=8F=E4=B8=BA=E5=BC=95=E5=AF=BC?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../sgs/app/cmd/selftest/MoveTestCommand.java | 62 +++++++++++++++++++++ .../sgs/app/cmd/selftest/TrayOutCommand.java | 65 ++++++++++++++++++++++ .../sgs/app/controller/SelfTestController.java | 9 +++ .../sgs/app/core/SelfMoveTestGenerator.java | 16 ++++++ .../sgs/app/model/vo/GetRequireOutTrayVO.java | 23 ++++++++ .../sgs/app/service/device/SelfTestService.java | 18 ++++++ .../iflytop/sgs/app/ws/server/WebSocketSender.java | 3 + .../sgs/common/constant/WebSocketMessageType.java | 4 ++ 8 files changed, 200 insertions(+) create mode 100644 src/main/java/com/iflytop/sgs/app/cmd/selftest/MoveTestCommand.java create mode 100644 src/main/java/com/iflytop/sgs/app/cmd/selftest/TrayOutCommand.java create mode 100644 src/main/java/com/iflytop/sgs/app/core/SelfMoveTestGenerator.java create mode 100644 src/main/java/com/iflytop/sgs/app/model/vo/GetRequireOutTrayVO.java diff --git a/src/main/java/com/iflytop/sgs/app/cmd/selftest/MoveTestCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/selftest/MoveTestCommand.java new file mode 100644 index 0000000..cb3f8e6 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/selftest/MoveTestCommand.java @@ -0,0 +1,62 @@ +package com.iflytop.sgs.app.cmd.selftest; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.core.SelfMoveTestGenerator; +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.app.ws.server.WebSocketSender; +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; + +import java.util.concurrent.CompletableFuture; + +/** + * 自检移动测试 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("move_test")//业务指令注解 +public class MoveTestCommand extends BaseCommandHandler { + private final SolutionModuleService solutionModuleService; + private final TransferModuleService transferModuleService; + private final HeatModuleService heatModuleService; + private final DeviceStateService deviceStateService; + private final DevicePositionService devicePositionService; + + private final WebSocketSender webSocketService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + HeatModuleCode annealHeatModuleCode = HeatModuleCode.heat_module_04; + 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 annealHeatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(annealHeatModuleCode);//获取退火加热模块托盘夹取点 + Double solutionModuleMotorDownInTubeExtPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeExtPositon).getPositon();//加液模块电机下降进入试管抽取位置 + Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液时托盘位置点 + Point3D feedAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.feedAreaTrayPoint).getPoint3D();//获取上料区托盘夹爪位置点 + + return runAsync(() -> { + webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "1、各项传感器正常", 25)); + transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), annealHeatModuleTrayClawPoint3D.getX());//将X轴移动至托盘夹取点 + solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), solutionModuleMotorDownInTubeExtPositon);//加液模块下降进入试管抽取位置 + solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//加液机械臂上升 + webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "2、加液模块升降电机检测完毕", 50)); + transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D.getX());//将X轴移动至加液时托盘位置点 + transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.getX());//将X轴移动至上料区位置点 + webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "3、x轴电机检测完毕", 75)); + transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), transferModuleZPickTrayDownPositon);//Z轴下降至夹取点，使托盘落入上料区 + transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高 + webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "4、z轴电机检测完毕", 100)); + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/selftest/TrayOutCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/selftest/TrayOutCommand.java new file mode 100644 index 0000000..e439487 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/selftest/TrayOutCommand.java @@ -0,0 +1,65 @@ +package com.iflytop.sgs.app.cmd.selftest; + +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.DoorModuleService; +import com.iflytop.sgs.app.service.device.module.HeatModuleService; +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; + +import java.util.concurrent.CompletableFuture; + +/** + * 移除一个托盘 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("tray_out")//业务指令注解 +public class TrayOutCommand extends BaseCommandHandler { + private final DoorModuleService doorModuleService; + private final TransferModuleService transferModuleService; + private final HeatModuleService heatModuleService; + private final DevicePositionService devicePositionService; + private final DeviceStateService deviceStateService; + + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + String targetHeatModuleCodeStr = cmdDTO.getStringParam("heatModuleCode"); + HeatModuleCode targetHeatModuleCode = HeatModuleCode.valueOf(targetHeatModuleCodeStr); + Double doorOpenPosition = devicePositionService.getPosition(DevicePositionCode.doorOpenPosition).getDistance();//获取开门位置 + 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(() -> { + if (!deviceStateService.getDeviceState().getDoorModule().isOpen()) { + doorModuleService.doorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), doorOpenPosition); + deviceStateService.getDeviceState().getDoorModule().setOpen(true); + } + + 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 + 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 + deviceStateService.getDeviceState().getTransferModule().setTrayStatus(true);//设定托盘在机械臂上 + transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高 + transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.getX());//将X轴移动至上料区位置点 + transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), transferModuleZPickTrayDownPositon);//Z轴下降至夹取点，使托盘落入上料区 + 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().getSolutionModule().setFeedAreaTrayStatus(true);//设定上料区托盘状态 + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/controller/SelfTestController.java b/src/main/java/com/iflytop/sgs/app/controller/SelfTestController.java index 17ce78c..29ae145 100644 --- a/src/main/java/com/iflytop/sgs/app/controller/SelfTestController.java +++ b/src/main/java/com/iflytop/sgs/app/controller/SelfTestController.java @@ -1,6 +1,7 @@ package com.iflytop.sgs.app.controller; import com.iflytop.sgs.app.model.bo.status.SelfTestState; +import com.iflytop.sgs.app.model.vo.GetRequireOutTrayVO; import com.iflytop.sgs.app.service.device.DeviceStateService; import com.iflytop.sgs.app.service.device.SelfTestService; import com.iflytop.sgs.common.result.Result; @@ -13,6 +14,8 @@ import org.springframework.web.bind.annotation.PostMapping; import org.springframework.web.bind.annotation.RequestMapping; import org.springframework.web.bind.annotation.RestController; +import java.util.List; + @Tag(name = "自检") @RestController @RequestMapping("/api/self-test") @@ -28,6 +31,12 @@ public class SelfTestController { return Result.success(selfTestService.getSelfTestState()); } + @Operation(summary = "是否存在需要移除的托盘") + @GetMapping("/require-out-tray") + public Result> getRequireOutTray() { + return Result.success(selfTestService.getRequireOutTray()); + } + @Operation(summary = "自检完毕") @PostMapping("/finish") public Result selfTestFinish(){ diff --git a/src/main/java/com/iflytop/sgs/app/core/SelfMoveTestGenerator.java b/src/main/java/com/iflytop/sgs/app/core/SelfMoveTestGenerator.java new file mode 100644 index 0000000..fa6d9be --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/core/SelfMoveTestGenerator.java @@ -0,0 +1,16 @@ +package com.iflytop.sgs.app.core; + +import cn.hutool.json.JSONObject; + +public class SelfMoveTestGenerator { + + public static JSONObject generateJson(String commandId, String command, String title, Object schedule) { + JSONObject jsonObject = new JSONObject(); + jsonObject.set("commandId", commandId); + jsonObject.set("command", command); + jsonObject.set("title", title); + jsonObject.set("schedule", schedule); + return jsonObject; + } + +} diff --git a/src/main/java/com/iflytop/sgs/app/model/vo/GetRequireOutTrayVO.java b/src/main/java/com/iflytop/sgs/app/model/vo/GetRequireOutTrayVO.java new file mode 100644 index 0000000..cb8c6ab --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/model/vo/GetRequireOutTrayVO.java @@ -0,0 +1,23 @@ +package com.iflytop.sgs.app.model.vo; + +import com.iflytop.sgs.common.enums.HeatModuleCode; +import io.swagger.v3.oas.annotations.media.Schema; +import lombok.Data; + +@Schema(description = "是否存在需要移除的托盘") +@Data +public class GetRequireOutTrayVO { + + @Schema(description = "加热模块CODE") + private HeatModuleCode moduleCode; + + @Schema(description = "是否存在托盘") + private boolean trayExist; + + + public GetRequireOutTrayVO(HeatModuleCode moduleCode, boolean trayExist) { + this.moduleCode = moduleCode; + this.trayExist = trayExist; + } + +} diff --git a/src/main/java/com/iflytop/sgs/app/service/device/SelfTestService.java b/src/main/java/com/iflytop/sgs/app/service/device/SelfTestService.java index 1f6b031..e66e9a8 100644 --- a/src/main/java/com/iflytop/sgs/app/service/device/SelfTestService.java +++ b/src/main/java/com/iflytop/sgs/app/service/device/SelfTestService.java @@ -1,16 +1,34 @@ package com.iflytop.sgs.app.service.device; import com.iflytop.sgs.app.model.bo.status.SelfTestState; +import com.iflytop.sgs.app.model.bo.status.device.HeatModuleState; +import com.iflytop.sgs.app.model.vo.GetRequireOutTrayVO; import lombok.Getter; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; import org.springframework.stereotype.Service; +import java.util.ArrayList; +import java.util.List; + @Slf4j @Service @RequiredArgsConstructor public class SelfTestService { + private final DeviceStateService deviceStateService; @Getter private final SelfTestState selfTestState = new SelfTestState(); + /** + * 是否存在需要移除的托盘 + */ + public List getRequireOutTray() { + List getRequireOutTrayList = new ArrayList<>(); + List heatModuleStateList = deviceStateService.getDeviceState().getHeatModule(); + for (HeatModuleState heatModuleState : heatModuleStateList) { + //TODO 只获取存在托盘的 + getRequireOutTrayList.add(new GetRequireOutTrayVO(heatModuleState.getModuleCode(),heatModuleState.isTrayStatus())); + } + return getRequireOutTrayList; + } } diff --git a/src/main/java/com/iflytop/sgs/app/ws/server/WebSocketSender.java b/src/main/java/com/iflytop/sgs/app/ws/server/WebSocketSender.java index 0195e16..ca90566 100644 --- a/src/main/java/com/iflytop/sgs/app/ws/server/WebSocketSender.java +++ b/src/main/java/com/iflytop/sgs/app/ws/server/WebSocketSender.java @@ -28,6 +28,9 @@ public class WebSocketSender { push(WebSocketMessageType.CMD_RESPONSE, data); } + public void pushSelfMoveTest(Object data) { + push(WebSocketMessageType.SELF_MOVE_TEST, data); + } public void pushNotification(Notification notification) { push("notification", notification); diff --git a/src/main/java/com/iflytop/sgs/common/constant/WebSocketMessageType.java b/src/main/java/com/iflytop/sgs/common/constant/WebSocketMessageType.java index 45f2439..84e9fb0 100644 --- a/src/main/java/com/iflytop/sgs/common/constant/WebSocketMessageType.java +++ b/src/main/java/com/iflytop/sgs/common/constant/WebSocketMessageType.java @@ -10,6 +10,10 @@ public class WebSocketMessageType { */ public static final String ALARM = "alarm"; /** + * 自检移动电机测试 + */ + public static final String SELF_MOVE_TEST = "self_move_test"; + /** * 指令反馈 */ public static final String CMD_RESPONSE = "cmd_response";