From d7d2276e9d341198e6faab3cdc3297f9da1d6602 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=8E=8B=E6=A2=A6=E8=BF=9C?= <1063331231@qq.com> Date: Tue, 27 May 2025 14:36:31 +0800 Subject: [PATCH] =?UTF-8?q?fix:=E9=80=80=E7=81=AB=E5=8F=82=E6=95=B0?= =?UTF-8?q?=E6=94=B9=E4=B8=BA=E6=95=B0=E7=BB=84?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../sgs/app/cmd/control/AnnealStartCommand.java | 44 ++++++++++------------ .../sgs/app/cmd/control/AnnealStopCommand.java | 21 ++++++++--- .../sgs/app/cmd/control/CleanStartCommand.java | 36 +++++++++--------- .../sgs/app/cmd/control/LiquidAddCommand.java | 2 +- .../sgs/app/model/vo/SetTargetTemperatureVO.java | 8 ++-- .../iflytop/sgs/common/enums/SystemConfigCode.java | 4 +- .../com/iflytop/sgs/common/result/ResultCode.java | 2 + 7 files changed, 64 insertions(+), 53 deletions(-) diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/AnnealStartCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/AnnealStartCommand.java index f46f36c..395faaa 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/AnnealStartCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/AnnealStartCommand.java @@ -1,5 +1,7 @@ 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; @@ -12,6 +14,8 @@ import com.iflytop.sgs.common.annotation.CommandMapping; import com.iflytop.sgs.common.enums.HeatModuleCode; import com.iflytop.sgs.common.enums.HeatingType; 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; @@ -33,36 +37,26 @@ public class AnnealStartCommand extends BaseCommandHandler { @Override public CompletableFuture handle(CmdDTO cmdDTO) { - //TODO 判断退火加热模块传感器是否有托盘 - String targetHeatModuleCodeStr = cmdDTO.getStringParam("heatModuleCode"); - HeatModuleCode targetHeatModuleCode = HeatModuleCode.valueOf(targetHeatModuleCodeStr);//目标加热模块 - HeatModuleCode annealHeatModuleCode = HeatModuleCode.heat_module_04;//退火模块 - if(!annealHeatModuleCode.equals(targetHeatModuleCode)) {//目标加热模块不是退火模块 - //TODO 判断目标加热模块传感器是否有托盘，如果没有托盘的话提示错误 + JSONArray heatModuleCodeJsonArray = cmdDTO.getJSONArrayParam("heatModuleCode"); + if (heatModuleCodeJsonArray.size() > 1 && !heatModuleCodeJsonArray.getStr(0).equals(HeatModuleCode.heat_module_04.name())) {//参数校验 设备问题参数固定位[heat_module_04] + throw new AppException(ResultCode.PARAMETER_TYPE_MISMATCH); } - 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 annealHeatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(annealHeatModuleCode);//获取退火加热模块托盘夹取点 - HeatModuleState heatModuleState = deviceStateService.getDeviceState().getHeatModuleByCode(annealHeatModuleCode);//获取设定的退火温度 - double targetTemperature = heatModuleState.getAnnealTemperature(); - heatModuleState.setTargetTemperature(targetTemperature);//将退火温度设定为目标温度 - return runAsync(() -> { - if(!annealHeatModuleCode.equals(targetHeatModuleCode)) {//目标加热模块不是退火模块 - transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), targetHeatModuleTrayClawPoint3D.getX() + transferModuleXPickTrayMoveDistance);//将X轴移动至夹取点 + 移动距离 - transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), transferModuleZPickTrayDownPositon);//将Z轴下降至托盘夹取点高度 - transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -transferModuleXPickTrayMoveDistance);//X轴进入卡槽 - transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高 - transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), annealHeatModuleTrayClawPoint3D.getX());//将X轴移动至托盘夹取点 - 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轴移出卡槽 - transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高 + for (int i = 0; i < heatModuleCodeJsonArray.size(); i++) { + String targetHeatModuleCodeStr = heatModuleCodeJsonArray.getStr(i); + HeatModuleCode targetHeatModuleCode = HeatModuleCode.valueOf(targetHeatModuleCodeStr);//目标退火模块 + Assert.isTrue(targetHeatModuleCode != null, () -> new AppException(ResultCode.PARAMETER_TYPE_MISMATCH));//参数检验 + HeatModuleState heatModuleState=deviceStateService.getDeviceState().getHeatModuleByCode(targetHeatModuleCode);//获取加热模块状态 + Assert.isTrue(heatModuleState.isTrayStatus(), () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//检测是否有托盘 + double targetTemperature = heatModuleState.getAnnealTemperature();//获取设定的退火温度 + heatModuleState.setTargetTemperature(targetTemperature);//将退火温度设定为目标温度 + heatModuleService.heatRodOpen(cmdDTO.getCommandId(), cmdDTO.getCommand(), targetHeatModuleCode, targetTemperature);//开启加热 + deviceStateService.getDeviceState().getHeatModuleByCode(targetHeatModuleCode).setHeatingType(HeatingType.annealing);//状态修改为退火中 } - heatModuleService.heatRodOpen(cmdDTO.getCommandId(), cmdDTO.getCommand(), annealHeatModuleCode, targetTemperature);//开启加热 - deviceStateService.getDeviceState().getHeatModuleByCode(annealHeatModuleCode).setHeatingType(HeatingType.annealing);//状态修改为退火中 }); + + } } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/AnnealStopCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/AnnealStopCommand.java index 3aa2efd..d2ad72e 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/AnnealStopCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/AnnealStopCommand.java @@ -1,6 +1,7 @@ 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.status.device.HeatModuleState; import com.iflytop.sgs.app.model.dto.CmdDTO; @@ -30,13 +31,23 @@ public class AnnealStopCommand extends BaseCommandHandler { @Override public CompletableFuture handle(CmdDTO cmdDTO) { - HeatModuleCode annealHeatModuleCode = HeatModuleCode.heat_module_04;//退火模块 - HeatModuleState heatModuleState=deviceStateService.getDeviceState().getHeatModuleByCode(annealHeatModuleCode);//获取退火区的状态 - Assert.isTrue(heatModuleState.getHeatingType().equals(HeatingType.annealing),()->new AppException(ResultCode.CRAFT_RUNNING));//判断退火区状态 + JSONArray heatModuleCodeJsonArray = cmdDTO.getJSONArrayParam("heatModuleCode"); + if (heatModuleCodeJsonArray.size() > 1 && !heatModuleCodeJsonArray.getStr(0).equals(HeatModuleCode.heat_module_04.name())) {//参数校验 设备问题参数固定位[heat_module_04] + throw new AppException(ResultCode.PARAMETER_TYPE_MISMATCH); + } return runAsync(() -> { - heatModuleService.heatRodClose(cmdDTO.getCommandId(), cmdDTO.getCommand(), annealHeatModuleCode);//关闭加热棒 - deviceStateService.getDeviceState().getHeatModuleByCode(annealHeatModuleCode).setHeatingType(HeatingType.stop);//设置退火区退火状态 + for (int i = 0; i < heatModuleCodeJsonArray.size(); i++) { + String targetHeatModuleCodeStr = heatModuleCodeJsonArray.getStr(i); + HeatModuleCode targetHeatModuleCode = HeatModuleCode.valueOf(targetHeatModuleCodeStr);//目标退火模块 + Assert.isTrue(targetHeatModuleCode != null, () -> new AppException(ResultCode.PARAMETER_TYPE_MISMATCH));//参数检验 + HeatModuleState heatModuleState = deviceStateService.getDeviceState().getHeatModuleByCode(targetHeatModuleCode);//获取退火区的状态 + Assert.isTrue(heatModuleState.getHeatingType().equals(HeatingType.annealing), () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NOT_ANNEAL));//判断退火区状态 + heatModuleService.heatRodClose(cmdDTO.getCommandId(), cmdDTO.getCommand(), targetHeatModuleCode);//关闭加热棒 + deviceStateService.getDeviceState().getHeatModuleByCode(targetHeatModuleCode).setHeatingType(HeatingType.stop);//设置退火区退火状态 + } }); + + } } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/CleanStartCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/CleanStartCommand.java index 8a34cd9..66037ae 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/CleanStartCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/CleanStartCommand.java @@ -6,6 +6,7 @@ import com.iflytop.sgs.app.model.bo.Point3D; import com.iflytop.sgs.app.model.bo.status.device.TrayState; import com.iflytop.sgs.app.model.bo.status.device.TubeState; import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.model.entity.SystemConfig; import com.iflytop.sgs.app.service.api.DevicePositionService; import com.iflytop.sgs.app.service.api.SystemConfigService; import com.iflytop.sgs.app.service.device.DeviceStateService; @@ -41,38 +42,39 @@ public class CleanStartCommand extends BaseCommandHandler { @Override public CompletableFuture handle(CmdDTO cmdDTO) { + //TODO 需要先更新一下传感器状态 - //TODO 需要先更新一下托盘状态 状态码新增转运模块是否有托盘 - Assert.isTrue(deviceStateService.getDeviceState().getTransferModule().isTrayStatus(),()->new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY)); - double cleanWaterVolume= Double.parseDouble(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.volume_clean));//清洁时加水的量 - double waterScale= Double.parseDouble(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.scale_water));//水转换系数 - double pumpPosition= Double.parseDouble(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.number_reduce));//抽液时蠕动泵移动 + Assert.isTrue(deviceStateService.getDeviceState().getTransferModule().isTrayStatus(), () -> new AppException(ResultCode.TRANSFER_MODULE_NO_TRAY));//判断转运模块托盘状态 + double cleanWaterVolume = Double.parseDouble(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.volume_clean));//清洁时加水的量 + double waterScale = Double.parseDouble(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.scale_water));//水转换系数 + double pumpPosition = Double.parseDouble(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.number_reduce));//抽液时蠕动泵移动 Double solutionModuleMotorDownInTubeExtPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeExtPositon).getPositon();//加液模块电机下降进入试管抽取位置 Integer cycle = cmdDTO.getIntegerParam("cycle");//清洗次数 + Integer maxCycles = Integer.valueOf(systemConfigService.getSystemConfigValueByCode(SystemConfigCode.cycle_clean_max));//获取最大清洁次数配置 + Assert.isTrue(cycle > 0 && cycle < maxCycles, () -> new AppException(ResultCode.INVALID_PARAMETER));//cycle参数校验 Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液时托盘位置点 Double trayTubeHorizontalSpacingDistance = devicePositionService.getPosition(DevicePositionCode.trayTubeHorizontalSpacingDistance).getDistance();//获取托盘试管水平间距 - List trayStates=deviceStateService.getDeviceState().getTrays();//所有的托盘 - TrayState trayState=trayStates.stream().filter(TrayState::isInSolutionPositon).findFirst().get();//加液位的托盘 + List trayStates = deviceStateService.getDeviceState().getTrays();//所有的托盘 + TrayState trayState = trayStates.stream().filter(TrayState::isInSolutionPositon).findFirst().get();//加液位的托盘 return runAsync(() -> { transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D.getX());//将X轴移动至加液时托盘位置点 solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), ValveStateCode.waste);//电磁阀对应通道打开 - 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(), solutionModuleMotorDownInTubeExtPositon);//加液模块下降进入试管抽取位置 solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), pumpPosition); - solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(),0.0);//加液模块上升 + solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0.0);//加液模块上升 solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), ValveStateCode.water);//电磁阀对应通道打开 for (int i = 0; i < cycle; i++) { - for(TubeState tubeState : trayState.getTubes()){ - if(tubeState.isAddSolution() && tubeState.isExists()){ - solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(),solutionModuleMotorDownInTubeExtPositon);//加液模块下降进入试管抽取位置 - solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), cleanWaterVolume*waterScale); - //todo 线程sleep指定时间 - solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), -cleanWaterVolume*waterScale); - double distance=(tubeState.getColumnNum()-1)*trayTubeHorizontalSpacingDistance; + for (TubeState tubeState : trayState.getTubes()) { + if (tubeState.isAddSolution() && tubeState.isExists()) { + solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), solutionModuleMotorDownInTubeExtPositon);//加液模块下降进入试管抽取位置 + solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), cleanWaterVolume * waterScale * 8);//八通道蠕动泵 + solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), -cleanWaterVolume * waterScale * 8);//八通道蠕动泵 + double distance = (tubeState.getColumnNum() - 1) * trayTubeHorizontalSpacingDistance;//x轴移动距离 transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -distance);//X轴依次按照试管间距移动 } } } - solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(),0);//加液模块上升至最高，移出试管 + solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//加液模块上升至最高，移出试管 }); } } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidAddCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidAddCommand.java index a1fbc4c..8aef498 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidAddCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidAddCommand.java @@ -59,7 +59,7 @@ public class LiquidAddCommand extends BaseCommandHandler { 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 double scale = Double.parseDouble(systemConfigService.getSystemConfigValueByCode(valveStateCode.getSystemConfigCode()));//根据溶液获取转换比 - double position = volume * scale;//加液泵的转数 + double position = volume * scale * 8;//加液泵的转数 solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), valveStateCode);//电磁阀对应通道打开 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 diff --git a/src/main/java/com/iflytop/sgs/app/model/vo/SetTargetTemperatureVO.java b/src/main/java/com/iflytop/sgs/app/model/vo/SetTargetTemperatureVO.java index ea57e5b..4f9e44f 100644 --- a/src/main/java/com/iflytop/sgs/app/model/vo/SetTargetTemperatureVO.java +++ b/src/main/java/com/iflytop/sgs/app/model/vo/SetTargetTemperatureVO.java @@ -13,14 +13,14 @@ public class SetTargetTemperatureVO { @Schema(description = "加热模块code") private HeatModuleCode moduleCode; - @Max(value = 150, message = "加热温度不能超过150度") - @Min(value = 0, message = "加热温度不能低于0度") + @Max(value = 120, message = "加热温度不能超过120度") + @Min(value = 50, message = "加热温度不能低于50度") @Schema(description = "加热温度") private Double heatTemperature; - @Max(value = 200, message = "烘干温度不能超过200度") - @Min(value = 100, message = "烘干温度不能低于100度") + @Max(value = 135, message = "烘干温度不能超过135度") + @Min(value = 50, message = "烘干温度不能低于50度") @Schema(description = "烘干温度") private Double dryTemperature; diff --git a/src/main/java/com/iflytop/sgs/common/enums/SystemConfigCode.java b/src/main/java/com/iflytop/sgs/common/enums/SystemConfigCode.java index 2c425ca..9254d6b 100644 --- a/src/main/java/com/iflytop/sgs/common/enums/SystemConfigCode.java +++ b/src/main/java/com/iflytop/sgs/common/enums/SystemConfigCode.java @@ -15,7 +15,9 @@ public enum SystemConfigCode { scale_waste("废水转换系数"), scale_vacant("空气转换系数"), volume_clean("清洁时加水的量"), - number_reduce("抽液时机蠕动泵的转数"); + number_reduce("抽液时机蠕动泵的转数"), + cycle_clean_max + ("清洁最大次数"); private String description; diff --git a/src/main/java/com/iflytop/sgs/common/result/ResultCode.java b/src/main/java/com/iflytop/sgs/common/result/ResultCode.java index f388c83..90257a3 100644 --- a/src/main/java/com/iflytop/sgs/common/result/ResultCode.java +++ b/src/main/java/com/iflytop/sgs/common/result/ResultCode.java @@ -55,6 +55,8 @@ public enum ResultCode implements IResultCode, Serializable { TARGET_HEAT_MODULE_NO_TRAY("6022", "目标加热模块无托盘"), CAP_LIFT_ERROR("6023", "拍子升降错误"), CMD_BUSY("6024", "设备忙，请稍后"), + TARGET_HEAT_MODULE_NOT_ANNEAL("6025", "目标加热区不是退火状态"), + TRANSFER_MODULE_NO_TRAY("6026", "转运模块无托盘"), ; /** 状态码 */ private final String code;