From f0a86fc19dd8fc32c3916f8c06ee21b15d3f7160 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= Date: Mon, 26 May 2025 21:40:06 +0800 Subject: [PATCH] =?UTF-8?q?=E8=B0=83=E6=95=B4=E4=B8=9A=E5=8A=A1=E6=8C=87?= =?UTF-8?q?=E4=BB=A4=EF=BC=8C=E7=A7=BB=E8=87=B3=E5=8A=A0=E7=83=AD=E3=80=81?= =?UTF-8?q?=E5=8A=A0=E6=B6=B2?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../sgs/app/cmd/control/MoveToFeedAreaCommand.java | 76 ++++++++++++++++++++++ .../sgs/app/cmd/control/MoveToHeatAreaCommand.java | 2 +- .../app/cmd/control/MoveToLiquidAreaCommand.java | 2 +- 3 files changed, 78 insertions(+), 2 deletions(-) create mode 100644 src/main/java/com/iflytop/sgs/app/cmd/control/MoveToFeedAreaCommand.java 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 new file mode 100644 index 0000000..4cb8f62 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/MoveToFeedAreaCommand.java @@ -0,0 +1,76 @@ +package com.iflytop.sgs.app.cmd.control; + +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.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; + +/** + * 将加液位或目标加热模块托盘移至上下料区 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("move_to_feed_area")//业务指令注解 +public class MoveToFeedAreaCommand extends BaseCommandHandler { + private final HeatModuleService heatModuleService; + private final TransferModuleService transferModuleService; + + private final DevicePositionService devicePositionService; + private final DeviceStateService deviceStateService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) throws Exception { + String targetHeatModuleCodeStr = cmdDTO.getStringParam("heatModuleCode"); + HeatModuleCode targetHeatModuleCode;//目标加热模块 + if (targetHeatModuleCodeStr != null) {//目标加热模块非必填，如果没有传递目标加热模块则尝试获取加液位是否有托盘 + targetHeatModuleCode = HeatModuleCode.valueOf(targetHeatModuleCodeStr); + } else { + targetHeatModuleCode = null; + //TODO 尝试获取加液位是否有托盘，如果没有托盘则提示错误 + } + + 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 (targetHeatModuleCode == null) { + //获取加液位托盘 + deviceStateService.getDeviceState().getTrayByHeatModuleCode(targetHeatModuleCode).setInSolutionPositon(false);//设定托盘不在加液位中 + 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 + + } else { + //获取目标加热模块托盘 + 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/cmd/control/MoveToHeatAreaCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/MoveToHeatAreaCommand.java index 460f23f..96a1794 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 @@ -26,7 +26,6 @@ import java.util.concurrent.CompletableFuture; @CommandMapping("move_to_heat_area")//业务指令注解 public class MoveToHeatAreaCommand extends BaseCommandHandler { private final HeatModuleService heatModuleService; - private final SolutionModuleService solutionModuleService; private final TransferModuleService transferModuleService; private final DevicePositionService devicePositionService; @@ -52,6 +51,7 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler { 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(), 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 + transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高 } transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), targetHeatModuleTrayClawPoint3D.getX());//将X轴移动至目标加热模块托盘夹取点 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 8091ef6..aa2c49d 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 @@ -18,7 +18,7 @@ import org.springframework.stereotype.Component; import java.util.concurrent.CompletableFuture; /** - * 移至加液 todo wmy 需要改 + * 将上料区或目标加热模块托盘移至加液位 */ @Slf4j @Component