diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidMotorOriginCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidMotorOriginCommand.java new file mode 100644 index 0000000..8c8a45c --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidMotorOriginCommand.java @@ -0,0 +1,37 @@ +package com.iflytop.sgs.app.cmd.control; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.device.DeviceCommandService; +import com.iflytop.sgs.common.annotation.CommandDebugMapping; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.cmd.CommandFuture; +import com.iflytop.sgs.common.cmd.DeviceCommandBundle; +import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; +import com.iflytop.sgs.common.utils.CommandUtil; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 加液位电机回原点 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("liquid_motor_origin") +public class LiquidMotorOriginCommand extends BaseCommandHandler { + private final DeviceCommandService deviceCommandService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.motorLiquidOrigin(); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + CommandUtil.wait(deviceCommandFuture); + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidPreFillStartCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidPreFillStartCommand.java index 14281cb..73978ac 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidPreFillStartCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidPreFillStartCommand.java @@ -48,7 +48,7 @@ public class LiquidPreFillStartCommand extends BaseCommandHandler { deviceStateService.getDeviceState().getSolutionModule().setIdle(false);//设置占用 deviceStateService.getDeviceState().getSolutionModule().setPumping(true);//设置正在加液 solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), valveStateCode);//电磁阀对应的酸液通道打开 - transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatArea1TrayClawPoint.getX());//转运移动至加热位1 + transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatArea1TrayClawPoint.getX());//转运模块移动至加热位1 solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(),liquidAreaPreFillPoint);//加液机械臂下降至至预充点位 solutionModuleService.liquidPumpRotateForward(cmdDTO.getCommandId(), cmdDTO.getCommand());//预充开始 todo 测试后改动 需要测试一下 }); diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidPreFillStopCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidPreFillStopCommand.java index a70d3b8..90dd13c 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidPreFillStopCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidPreFillStopCommand.java @@ -34,6 +34,7 @@ public class LiquidPreFillStopCommand extends BaseCommandHandler { public CompletableFuture handle(CmdDTO cmdDTO) { return runAsync(() -> { solutionModuleService.liquidPumpStop(cmdDTO.getCommandId(), cmdDTO.getCommand());//停止预充 + solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂归0 deviceStateService.getDeviceState().getSolutionModule().setIdle(true);//设置占用解除 deviceStateService.getDeviceState().getSolutionModule().setPumping(false);//设置加液结束 }); diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidReduceCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidReduceCommand.java index 02c8110..f8f0ee7 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidReduceCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidReduceCommand.java @@ -50,7 +50,7 @@ public class LiquidReduceCommand extends BaseCommandHandler { double reduceNumber= systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.number_reduce);//抽液volume配置 return runAsync(() -> { solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液模块上升 - transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);//将X轴移动至加液时托盘位置点 + transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);//移动至加液时托盘位置点 boolean liquidTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.CLAW_TRAY_EXIST);//获取夹爪是否有托盘 Assert.isTrue(liquidTrayExist, () -> new AppException(ResultCode.SOLUTION_MODULE_NO_TRAY));//判断转态 deviceStateService.getDeviceState().getSolutionModule().setIdle(false);//设置占用 @@ -66,7 +66,7 @@ public class LiquidReduceCommand extends BaseCommandHandler { solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液模块上升 } } - solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//加液模块上升至最高，移出试管 + solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液模块上升至最高，移出试管 transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);//移动至托盘至加液位置点 deviceStateService.getDeviceState().getSolutionModule().setIdle(true);//设置占用解除 deviceStateService.getDeviceState().getSolutionModule().setPumping(false);//设置加液结束 diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/MoveToAnnealAreaCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/MoveToAnnealAreaCommand.java index 4985585..5c08665 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/MoveToAnnealAreaCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/MoveToAnnealAreaCommand.java @@ -49,7 +49,6 @@ public class MoveToAnnealAreaCommand extends BaseCommandHandler { } else { heatModuleCode = null; } - Point3D heatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(heatModuleCode);//获取加热模块托盘夹取点 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 Point3D liquidAreaTrayPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D(); //获取加液区上方点位 @@ -69,6 +68,7 @@ public class MoveToAnnealAreaCommand extends BaseCommandHandler { transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -transferModuleXPickTrayMoveDistance);//X轴进入卡槽 } }else{ + Point3D heatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(heatModuleCode);//获取加热模块托盘夹取点 transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleTrayClawPoint3D.getX() + transferModuleXPickTrayMoveDistance);//将X轴移动至加热区托盘夹取点 + 进出卡槽移动距离 transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleTrayClawPoint3D.getZ());//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 diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/MoveToFeedAreaCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/MoveToFeedAreaCommand.java index 1ac6dd9..beb01b4 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/MoveToFeedAreaCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/MoveToFeedAreaCommand.java @@ -77,6 +77,7 @@ public class MoveToFeedAreaCommand extends BaseCommandHandler { transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.getZ());//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().getTransferModule().setTrayStatus(false);//设定托盘夹爪为FALSE } deviceStateService.getDeviceState().getSolutionModule().setFeedAreaTrayStatus(true);//设定上料区托盘状态 }); diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/MoveToHeatAreaCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/MoveToHeatAreaCommand.java index 4191a4a..b7fd82f 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/MoveToHeatAreaCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/MoveToHeatAreaCommand.java @@ -11,6 +11,8 @@ 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.common.annotation.CommandMapping; +import com.iflytop.sgs.common.cmd.DeviceCommandBundle; +import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; import com.iflytop.sgs.common.enums.DeviceSensorCode; import com.iflytop.sgs.common.enums.HeatModuleCode; import com.iflytop.sgs.common.enums.data.DevicePositionCode; @@ -46,7 +48,9 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler { 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();//获取加液区托盘夹爪位置点 - //目标加热模块有无托盘 + + boolean heatModuleTrayExist=deviceSensorService.getTrayStateByHeatModuleCode(targetHeatModuleCode);//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 return runAsync(() -> { solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂上升 transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);//移动至加液位置 diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/MoveToLiquidAreaCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/MoveToLiquidAreaCommand.java index 7845e37..d3fc1ac 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/MoveToLiquidAreaCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/MoveToLiquidAreaCommand.java @@ -48,7 +48,7 @@ public class MoveToLiquidAreaCommand extends BaseCommandHandler { targetHeatModuleCode = null; } - 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 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 @@ -56,10 +56,10 @@ public class MoveToLiquidAreaCommand extends BaseCommandHandler { solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂上升 transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);//移动至加液位置 boolean clawTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.CLAW_TRAY_EXIST);//获取传感器状态 - if(!clawTrayExist){//夹爪无托盘 + if (!clawTrayExist) {//夹爪无托盘 if (targetHeatModuleCode == null) {//无加热模块参数 boolean feedTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取传感器状态 - Assert.isTrue(feedTrayExist, ()->new AppException(ResultCode.FEED_AREA_NO_TRAY));//上料区必须存在托盘 + Assert.isTrue(feedTrayExist, () -> new AppException(ResultCode.FEED_AREA_NO_TRAY));//上料区必须存在托盘 transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 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 transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.getZ());//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 @@ -75,8 +75,8 @@ public class MoveToLiquidAreaCommand extends BaseCommandHandler { 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 todo 报错 } + transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);//移动至加液时托盘位置点 } - transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D.getX());//x轴移动至加液时托盘位置点 //deviceStateService.getDeviceState().getTrayByHeatModuleCode(targetHeatModuleCode).setInSolutionPositon(true);//设定托盘在加液位中 todo 报错 }); diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/XOriginCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/XOriginCommand.java new file mode 100644 index 0000000..053c4cc --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/XOriginCommand.java @@ -0,0 +1,36 @@ +package com.iflytop.sgs.app.cmd.control; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.device.DeviceCommandService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.cmd.CommandFuture; +import com.iflytop.sgs.common.cmd.DeviceCommandBundle; +import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; +import com.iflytop.sgs.common.utils.CommandUtil; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 处理复位x轴电机复位 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("x_origin") +public class XOriginCommand extends BaseCommandHandler { + private final DeviceCommandService deviceCommandService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferXOrigin(); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + CommandUtil.wait(deviceCommandFuture); + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/ZOriginCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/ZOriginCommand.java new file mode 100644 index 0000000..ca5c6ab --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/ZOriginCommand.java @@ -0,0 +1,36 @@ +package com.iflytop.sgs.app.cmd.control; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.device.DeviceCommandService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import com.iflytop.sgs.common.cmd.CommandFuture; +import com.iflytop.sgs.common.cmd.DeviceCommandBundle; +import com.iflytop.sgs.common.cmd.DeviceCommandGenerator; +import com.iflytop.sgs.common.utils.CommandUtil; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * z轴电机复位 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("z_origin") +public class ZOriginCommand extends BaseCommandHandler { + private final DeviceCommandService deviceCommandService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferZOrigin(); + CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); + CommandUtil.wait(deviceCommandFuture); + }); + } +} + 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 index f3b519d..eeaa364 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/selftest/MoveTestCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/selftest/MoveTestCommand.java @@ -5,12 +5,14 @@ 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.DeviceSensorService; 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.DeviceSensorCode; import com.iflytop.sgs.common.enums.HeatModuleCode; import com.iflytop.sgs.common.enums.data.DevicePositionCode; import com.iflytop.sgs.common.exception.AppException; @@ -35,6 +37,7 @@ public class MoveTestCommand extends BaseCommandHandler { private final DevicePositionService devicePositionService; private final DeviceStateService deviceStateService; private final WebSocketSender webSocketService; + private final DeviceSensorService deviceSensorService; @Override public CompletableFuture handle(CmdDTO cmdDTO) { @@ -50,9 +53,12 @@ public class MoveTestCommand extends BaseCommandHandler { deviceStateService.getCommandMutexState().get().setMoveTest(true); return runAsync(() -> { try { + deviceSensorService.collectSensorState();//收集传感器转态 webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "1、各项传感器正常", 25)); solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂抬升至最高 transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高 + transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(),liquidAreaTrayPoint3D);//转移至加液区托盘点位 + boolean clawTrayExist=deviceSensorService.getSensorStatus(DeviceSensorCode.CLAW_TRAY_EXIST); 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.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂抬升至最高 @@ -63,6 +69,11 @@ public class MoveTestCommand extends BaseCommandHandler { transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.getZ());//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)); + + if(clawTrayExist){ + transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(),feedAreaTrayPoint3D);//转移至加液区托盘点位 + + } } finally { deviceStateService.getCommandMutexState().get().setMoveTest(false); } diff --git a/src/main/java/com/iflytop/sgs/app/service/device/DeviceSensorService.java b/src/main/java/com/iflytop/sgs/app/service/device/DeviceSensorService.java index 7c4e057..37905af 100644 --- a/src/main/java/com/iflytop/sgs/app/service/device/DeviceSensorService.java +++ b/src/main/java/com/iflytop/sgs/app/service/device/DeviceSensorService.java @@ -23,6 +23,19 @@ public class DeviceSensorService { /* * 获取传感器状态 * */ + public boolean getTrayStateByHeatModuleCode(HeatModuleCode heatModuleCode) throws HardwareException { + DeviceSensorCode deviceSensorCode = switch (heatModuleCode) { + case heat_module_01 -> DeviceSensorCode.HEATER_TRAY_1_EXIST; + case heat_module_02 -> DeviceSensorCode.HEATER_TRAY_2_EXIST; + case heat_module_03 -> DeviceSensorCode.HEATER_TRAY_3_EXIST; + case heat_module_04 -> DeviceSensorCode.HEATER_TRAY_4_EXIST; + }; + return deviceStatusService.getInputState(deviceSensorCode.name()); + } + + /* + * 获取传感器状态 + * */ public boolean getSensorStatus(DeviceSensorCode sensorCode) throws HardwareException { return deviceStatusService.getInputState(sensorCode.name()); } @@ -49,10 +62,9 @@ public class DeviceSensorService { } - /** * 采集所有传感器状态 - * */ + */ public void collectSensorState() throws HardwareException { HeatModuleState heat_module_01 = deviceStateService.getDeviceState().getHeatModuleByCode(HeatModuleCode.heat_module_01); heat_module_01.setTrayStatus(this.getSensorStatus(DeviceSensorCode.HEATER_TRAY_1_EXIST));