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当前申请到机械臂的标识

master
王梦远 2 months ago
parent
d7f59d0237
commit
e3b649791c
2 changed files with 13 additions and 286 deletions
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  1. 3
      src/main/java/com/iflytop/sgs/app/model/bo/status/device/TrayState.java
  2. 296
      src/main/java/com/iflytop/sgs/app/service/crafts/CraftsStepService.java

3
src/main/java/com/iflytop/sgs/app/model/bo/status/device/TrayState.java
View File

@ -39,6 +39,9 @@ public class TrayState {
@Schema(description = "当前托盘的工艺")
private CraftsState crafts = null;
@Schema(description = "是否使用机械臂")
private boolean useArm;
@PostConstruct
private void init() {
for (int i = 0; i < tubes.length; i++) {

296
src/main/java/com/iflytop/sgs/app/service/crafts/CraftsStepService.java
View File

@ -69,11 +69,9 @@ public class CraftsStepService {
}
return switch (method) {
case "preHeat" -> preHeat(heatModuleCode, params, craftMonitor);
//case "addLiquid" -> addLiquid(heatModuleCode, params, craftMonitor);
case "addThin" -> addThin(heatModuleCode, params, craftMonitor);
case "addThick" -> addThick(heatModuleCode, params, craftMonitor);
case "heat" -> heat(heatModuleCode, params, craftMonitor);
//case "reduceLiquid" -> reduceLiquid(heatModuleCode, params, craftMonitor);
case "clean" -> clean(heatModuleCode, params, craftMonitor);
case "dry" -> dry(heatModuleCode, params, craftMonitor);
case "anneal" -> anneal(heatModuleCode, params, craftMonitor);
@ -95,169 +93,6 @@ public class CraftsStepService {
}
/*
* 加液
* */
public boolean addLiquid(HeatModuleCode heatModuleCode, JSONObject params, CraftMonitor craftMonitor) throws Exception {
try {
/*工艺监控*/
log.info("工艺{},-------------------------------加液------------------------------", heatModuleCode);
JSONObject result = new JSONObject();
List<Integer> finishColumns = new ArrayList<>();
result.set(ResultCode.SUCCESS.getCode(), finishColumns);
craftMonitor.setCurrentStepResult(String.valueOf(result));
craftMonitorService.saveOrUpdate(craftMonitor);
/*工艺监控结束*/
/*获取配置信息*/
log.info("工艺{},获取配置信息", heatModuleCode);
deviceStateService.getDeviceState().getSolutionModule().setPumping(true);
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
Point3D feedAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.feedAreaTrayPoint).getPoint3D();//获取上料区托盘夹爪位置点
Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液时托盘位置点
Point3D heatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(heatModuleCode);//获取目标加热模块托盘夹取点
Double drainDistance = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.drain_distance);//排空距离
Double preFillDistance = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.pre_fill_distance);//预充距离
Double preFillPosition = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownPreFillPositon).getPositon();
Integer containerId = params.getInt("containerId");//容器id
Double volume = params.getDouble("volume");//量
JSONArray jsonArray = params.getJSONArray("columns");//列数
Container container = containerService.getById(containerId);//容器id
Solutions solutions = solutionsService.getById(container.getSolutionId());//获取溶液
Integer channel = container.getChannel();//获取阀门通道
Double trayTubeHorizontalSpacingDistance = devicePositionService.getPosition(DevicePositionCode.trayTubeHorizontalSpacingDistance).getDistance(); //托盘试管水平间距
double scale = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.valueOf(solutions.getCode()));//获取转换比
Double solutionModuleMotorDownInTubeAddPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeAddPositon).getPositon(); //加液模块电机下降进入试管加液位置
double addLiquidDistance = volume * scale;
/*获取参数结束*/
log.info("工艺{},申请转运模组并等待", heatModuleCode);
transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_liquid);//申请转运模组并等待
/*预充开始*/
log.info("工艺{},预充开始", heatModuleCode);
log.info("工艺{},加液机械臂上升", heatModuleCode);
solutionModuleService.solutionMotorMoveZero();//加液机械臂上升
log.info("工艺{},电磁阀对应通道打开", heatModuleCode);
solutionModuleService.liquidValveSwitch(SolutionCode.waste);//电磁阀对应通道打开
log.info("工艺{},加液机械臂下降至预充位置", heatModuleCode);
solutionModuleService.solutionMotorMove(preFillPosition);//加液机械臂下降至预充位置
log.info("工艺{},排空", heatModuleCode);
solutionModuleService.liquidPumpMove(-drainDistance);//排空
log.info("工艺{},电磁阀对应通道打开", heatModuleCode);
solutionModuleService.liquidValveSwitchByChannel(channel);//电磁阀对应通道打开
log.info("工艺{},预充", heatModuleCode);
solutionModuleService.liquidPumpMove(preFillDistance);//预充
log.info("工艺{},加液机械臂上升", heatModuleCode);
solutionModuleService.solutionMotorMoveZero();//加液机械臂上升
/*预充结束*/
/*移动至加液区开始*/
log.info("工艺{},移动至加液区", heatModuleCode);
boolean heatTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(heatModuleCode);//获取加热区试管架
if (heatTrayExist) {//加热区存在试管架
log.info("工艺{},加热区存在托盘", heatModuleCode);
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "机械臂移动至加热区", heatModuleCode.name()));
log.info("工艺{},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", heatModuleCode);
transferModuleService.transferXMove(heatModuleTrayClawPoint3D.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
log.info("工艺{},Z轴下降至夹取点", heatModuleCode);
transferModuleService.transferZMove(heatModuleTrayClawPoint3D.getZ());//Z轴下降至夹取点
log.info("工艺{},X轴进入卡槽", heatModuleCode);
transferModuleService.transferXMoveBy(-transferModuleXPickTrayMoveDistance);//X轴进入卡槽
deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayStatus(false);//加热区托盘状态
deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setInHeatModule(false);//托盘状态
} else {//上料区存在托盘
boolean feedTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取上料区传感器状态
//Assert.isTrue(feedTrayExist, () -> new AppException(ResultCode.FEED_AREA_NO_TRAY));
log.info("工艺{},上料区存在托盘", heatModuleCode);
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "机械臂移动至上料区", feedAreaTrayPoint3D));
log.info("工艺{},将X轴移动至上料区托盘夹取点 + 进出卡槽移动距离", heatModuleCode);
transferModuleService.transferXMove(feedAreaTrayPoint3D.getX() + transferModuleXPickTrayMoveDistance);//将X轴移动至上料区托盘夹取点 + 进出卡槽移动距离
log.info("工艺{},Z轴下降至夹取点，使托盘落入石墨加热盘", heatModuleCode);
transferModuleService.transferZMove(feedAreaTrayPoint3D.getZ());//Z轴下降至夹取点，使托盘落入石墨加热盘
log.info("工艺{},X轴进入卡槽", heatModuleCode);
transferModuleService.transferXMoveBy(-transferModuleXPickTrayMoveDistance);//X轴进入卡槽
deviceStateService.getDeviceState().getSolutionModule().setFeedAreaTrayStatus(false);//加热区托盘状态
deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setInFeedArea(false);//托盘状态
}
log.info("工艺{},Z轴抬升至最高", heatModuleCode);
transferModuleService.transferZMoveZero();//Z轴抬升至最高
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "机械臂移动至加液区", DevicePositionCode.liquidAreaTrayPoint.name()));
log.info("工艺{},移动至加液时托盘位置点", heatModuleCode);
transferModuleService.transferMove(liquidAreaTrayPoint3D);//移动至加液时托盘位置点
deviceStateService.getDeviceState().getSolutionModule().setPumping(true);//正在加液
deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setInSolutionPositon(true);//托盘状态
boolean clawTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.CLAW_TRAY_EXIST);//获取传感器状态
//Assert.isTrue(clawTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//加液区无托盘
/*移动至加液区结束*/
/*开始加液*/
log.info("工艺{},开始加液", heatModuleCode);
List<Integer> columns = new ArrayList<>();
if (jsonArray != null) {
jsonArray.forEach(item -> {
columns.add(Integer.parseInt(item.toString()));
});
} else {
TubeState[] tubes = deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).getTubes();
for (TubeState tube : tubes) {
if (tube.isNeedAddSolution()) {
columns.add(tube.getColumnNum());
}
}
}
if (!columns.isEmpty()) {
for (int i = 0; i < columns.size(); i++) {
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "移动加液机械臂到指定试管", i));
double distance = Math.abs(columns.get(i) - 5) * trayTubeHorizontalSpacingDistance;//机械臂右移距离
log.info("工艺{},机械臂移动到试管位置{}", heatModuleCode, i);
transferModuleService.transferXMove(liquidAreaTrayPoint3D.getX() + distance);//机械臂移动到试管位置
log.info("工艺{},加液机械臂下降", heatModuleCode);
solutionModuleService.solutionMotorMove(solutionModuleMotorDownInTubeAddPositon);//加液机械臂下降
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "添加溶液", addLiquidDistance));
log.info("工艺{},加液", heatModuleCode);
solutionModuleService.liquidPumpMove(addLiquidDistance);//加液 position
log.info("工艺{},加液机械臂上升", heatModuleCode);
solutionModuleService.solutionMotorMoveZero();//加液机械臂上升
/*工艺监控开始*/
finishColumns.add(i);
result.set("columns", finishColumns);//添加到结果
craftMonitor.setCurrentStepResult(String.valueOf(result));
craftMonitor.setDeviceState(JSONUtil.toJsonStr(deviceStateService.getDeviceState()));
craftMonitorService.saveOrUpdate(craftMonitor);
/*工艺监控结束*/
}
}
/*结束加液*/
/*移动至加热区*/
log.info("工艺{},移动至加热区", heatModuleCode);
boolean heatModuleTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(heatModuleCode);//目标加热模块有无托盘
//Assert.isTrue(!heatModuleTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_OCCUPIED));//提示被占用
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "机械臂移动至加热区", heatModuleCode));
log.info("工艺{},加液机械臂上升", heatModuleCode);
solutionModuleService.solutionMotorMoveZero();//加液机械臂上升
log.info("工艺{},将X轴移动至目标加热模块托盘夹取点", heatModuleCode);
transferModuleService.transferXMove(heatModuleTrayClawPoint3D.getX());//将X轴移动至目标加热模块托盘夹取点
log.info("工艺{},Z轴下降至夹取点", heatModuleCode);
transferModuleService.transferZMove(heatModuleTrayClawPoint3D.getZ());//Z轴下降至夹取点，使托盘落入石墨加热盘
log.info("工艺{},X轴移出卡槽", heatModuleCode);
transferModuleService.transferXMoveBy(transferModuleXPickTrayMoveDistance);//X轴移出卡槽
transferModuleService.transferZMoveZero();//Z轴抬升至最高
deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayStatus(true);//加热区托盘状态
deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setInHeatModule(true);//托盘状态
deviceStateService.getDeviceState().getSolutionModule().setPumping(false);//正在加液
deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setInSolutionPositon(false);//托盘状态
return true;
} finally {
deviceStateService.getDeviceState().getSolutionModule().setPumping(false);
transferModuleService.releaseTransferModule();//释放转运模组
}
}
/*
* 加稀硝酸
* */
public boolean addThin(HeatModuleCode heatModuleCode, JSONObject params, CraftMonitor craftMonitor) throws Exception {
@ -297,6 +132,7 @@ public class CraftsStepService {
log.info("工艺{},申请转运模组并等待", heatModuleCode);
transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_liquid);//申请转运模组并等待
deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setUseArm(true);//使用机械臂标志
/*移动至加液区开始*/
@ -405,6 +241,7 @@ public class CraftsStepService {
} finally {
deviceStateService.getDeviceState().getSolutionModule().setPumping(false);
transferModuleService.releaseTransferModule();//释放转运模组
deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setUseArm(false);//使用机械臂标志
}
}
@ -448,6 +285,7 @@ public class CraftsStepService {
log.info("工艺{},申请转运模组并等待", heatModuleCode);
transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_liquid);//申请转运模组并等待
deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setUseArm(true);//使用机械臂标志
/*移动至加液区*/
@ -587,128 +425,10 @@ public class CraftsStepService {
} finally {
deviceStateService.getDeviceState().getSolutionModule().setPumping(false);
transferModuleService.releaseTransferModule();//释放转运模组
deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setUseArm(false );//使用机械臂标志
}
}
/*
* 抽液
* */
public boolean reduceLiquid(HeatModuleCode heatModuleCode, JSONObject params, CraftMonitor craftMonitor) throws Exception {
try {
/*工艺监控开始*/
JSONObject result = new JSONObject();
List<Integer> finishColumns = new ArrayList<>();
craftMonitor.setCurrentStepResult(String.valueOf(result));
craftMonitorService.saveOrUpdate(craftMonitor);
/*工艺监控结束*/
/*获取参数开始*/
Double height = params.getDouble("height");//抽液试管头部到试管底部的高度
JSONArray jsonArray = params.getJSONArray("columns");//列数
if (height > 50) {
throw new AppException(ResultCode.CRAFT_PARAMS_MISTAKE);
}
Point3D heatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(heatModuleCode);//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
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
double solutionModuleMotorDownInTubeExtPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeExtPositon).getDistance();//加液模块电机下降进入试管抽取位置
Double reduceDistance = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.reduce_distance);//抽液距离
/*获取参数结束*/
boolean heatTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(heatModuleCode);//获取加热区传感器状态
Assert.isTrue(heatTrayExist, () -> new AppException(ResultCode.CRAFT_TARGET_HEAT_NO_TRAY));//加热区无托盘
log.info("工艺{},申请转运模组并等待", heatModuleCode);
transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_liquid);//申请转运模组并等待
log.info("工艺{},加液机械臂上升", heatModuleCode);
solutionModuleService.solutionMotorMoveZero();//加液机械臂上升
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "机械臂移动至", heatModuleCode.name()));
log.info("工艺{},将X轴移动至目标加热模块托盘夹取点", heatModuleCode);
transferModuleService.transferXMove(heatModuleTrayClawPoint3D.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
log.info("工艺{},Z轴下降至夹取点", heatModuleCode);
transferModuleService.transferZMove(heatModuleTrayClawPoint3D.getZ());//Z轴下降至夹取点
log.info("工艺{},X轴进入卡槽", heatModuleCode);
transferModuleService.transferXMoveBy(-transferModuleXPickTrayMoveDistance);//X轴进入卡槽
log.info("工艺{},Z轴抬升至最高", heatModuleCode);
transferModuleService.transferZMoveZero();//Z轴抬升至最高
deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayStatus(false);//加热区托盘状态
deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setInHeatModule(false);//托盘状态
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "机械臂移动至加液位置", DevicePositionCode.liquidAreaTrayPoint.name()));
log.info("工艺{},机械臂移动至加液位置", heatModuleCode);
transferModuleService.transferMove(liquidAreaTrayPoint3D);//移动至加液时托盘位置点
deviceStateService.getDeviceState().getSolutionModule().setPumping(true);//正在加液
deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setInSolutionPositon(true);//托盘状态
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "电磁阀打开", SolutionCode.waste.name()));
log.info("工艺{},电磁阀对应通道打开", heatModuleCode);
/*抽液开始*/
solutionModuleService.liquidValveSwitch(SolutionCode.waste);//电磁阀对应通道打开
List<Integer> columns = new ArrayList<>();
if (jsonArray != null) {
jsonArray.forEach(item -> {
columns.add(Integer.parseInt(item.toString()));
});
} else {
TubeState[] tubes = deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).getTubes();
for (TubeState tube : tubes) {
if (tube.isNeedAddSolution()) {
columns.add(tube.getColumnNum());
}
}
}
for (int i = 0; i < columns.size(); i++) {
double distance = Math.abs(columns.get(i) - 5) * trayTubeHorizontalSpacingDistance;
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "机械臂移动至试管位置", i));
log.info("工艺{},机械臂移动至试管位置", heatModuleCode);
transferModuleService.transferXMove(liquidAreaTrayPoint3D.getX() + distance);//机械臂移动到试管位置
log.info("工艺{},加液模块下降进入试管", heatModuleCode);
solutionModuleService.solutionMotorMove(solutionModuleMotorDownInTubeExtPositon + height);//加液模块下降进入试管
log.info("工艺{},开始抽液", heatModuleCode);
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "开始抽液", -10));
solutionModuleService.liquidPumpMove(-reduceDistance);//开始抽液
log.info("工艺{},加液模块上升", heatModuleCode);
solutionModuleService.solutionMotorMoveZero();//加液模块上升
/*工艺监控开始*/
finishColumns.add(i);
result.set("columns", finishColumns);//添加到结果
craftMonitor.setCurrentStepResult(String.valueOf(result));
craftMonitor.setDeviceState(JSONUtil.toJsonStr(deviceStateService.getDeviceState()));
craftMonitorService.saveOrUpdate(craftMonitor);//保存到监控
/*工艺监控结束*/
}
log.info("工艺{},加液模块上升至最高，移出试管", heatModuleCode);
solutionModuleService.solutionMotorMoveZero();//加液模块上升至最高，移出试管
/*抽液结束*/
/*移动至加热区开始*/
log.info("工艺{},移动至托盘至加液位置点", heatModuleCode);
boolean heatModuleTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(heatModuleCode);//目标加热模块有无托盘
//Assert.isTrue(!heatModuleTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_OCCUPIED));//提示被占用
webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "机械臂移动至加热区", heatModuleCode));
log.info("工艺{},将X轴移动至目标加热模块托盘夹取点", heatModuleCode);
transferModuleService.transferXMove(heatModuleTrayClawPoint3D.getX());//将X轴移动至目标加热模块托盘夹取点
log.info("工艺{},Z轴下降至夹取点，使托盘落入石墨加热盘", heatModuleCode);
transferModuleService.transferZMove(heatModuleTrayClawPoint3D.getZ());//Z轴下降至夹取点，使托盘落入石墨加热盘
log.info("工艺{},X轴移出卡槽", heatModuleCode);
transferModuleService.transferXMoveBy(transferModuleXPickTrayMoveDistance);//X轴移出卡槽
log.info("工艺{},Z轴抬升至最高", heatModuleCode);
transferModuleService.transferZMoveZero();//Z轴抬升至最高
/*移动至加热区结束*/
deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayStatus(true);//加热区托盘状态
deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setInHeatModule(true);//托盘状态
deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setInSolutionPositon(false);//托盘状态
return true;
} finally {
deviceStateService.getDeviceState().getSolutionModule().setPumping(false);
transferModuleService.releaseTransferModule();//释放转运模组
}
}
/*
* 加热
@ -802,6 +522,7 @@ public class CraftsStepService {
log.info("工艺{},申请转运模组并等待", heatModuleCode);
transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_liquid);//申请转运模组并等待
deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setUseArm(true);//使用机械臂标志
log.info("工艺{},加液机械臂上升", heatModuleCode);
solutionModuleService.solutionMotorMoveZero();//加液机械臂上升
@ -929,6 +650,7 @@ public class CraftsStepService {
deviceStateService.getDeviceState().getSolutionModule().setPumping(false);
log.info("工艺{},释放转运模组", heatModuleCode);
transferModuleService.releaseTransferModule();//释放转运模组
deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setUseArm(false);//使用机械臂标志
}
}
@ -1073,6 +795,7 @@ public class CraftsStepService {
log.info("工艺{},加热完毕", heatModuleCode);
log.info("工艺{},获取转运模组锁", heatModuleCode);
transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_heat);//获取转运模组锁
deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setUseArm(true);//使用机械臂标志
log.info("工艺{},Z轴抬升至最高", heatModuleCode);
transferModuleService.transferZMoveZero();//Z轴抬升至最高
log.info("工艺{},将X轴移动至目标加热模块托盘夹取点", heatModuleCode);
@ -1112,6 +835,7 @@ public class CraftsStepService {
return true;
} finally {
transferModuleService.releaseTransferModule();//释放转运模组
deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setUseArm(false);//使用机械臂标志
}
}
@ -1151,8 +875,8 @@ public class CraftsStepService {
*/
public void finish(HeatModuleCode heatModuleCode, CraftMonitor craftMonitor) throws Exception {
craftMonitorService.removeById(craftMonitor.getId());
List<TrayState> trayList = deviceStateService.getDeviceState().getTrays();
trayList.removeIf((tray) -> tray.getHeatModuleCode().equals(heatModuleCode));
/* List<TrayState> trayList = deviceStateService.getDeviceState().getTrays();
trayList.removeIf((tray) -> tray.getHeatModuleCode().equals(heatModuleCode));*/
// moveToFeedModule(heatModuleCode);
}

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