取出托盘状态移除

src/main/java/com/iflytop/sgs/app/cmd/control/OutTrayCommand.java

@@ -13,16 +13,20 @@ 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.enums.CraftsTransferTypeCode;
 import com.iflytop.sgs.common.enums.DeviceSensorCode;
 import com.iflytop.sgs.common.enums.HeatModuleCode;
 import com.iflytop.sgs.common.enums.cmd.CmdBeepMode;
 import com.iflytop.sgs.common.enums.data.DevicePositionCode;
 import com.iflytop.sgs.common.exception.AppException;
 import com.iflytop.sgs.common.result.ResultCode;
+import lombok.Getter;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
+import java.util.ArrayList;
+import java.util.Arrays;
 import java.util.List;
 import java.util.concurrent.CompletableFuture;
 
@@ -42,28 +46,29 @@ public class OutTrayCommand extends BaseCommandHandler {
     private final DeviceSensorService deviceSensorService;
     private final SolutionModuleService solutionModuleService;
 
+
+
+
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
-        if (deviceStateService.getCommandMutexState().get().isTransferCommandExecuting()) {
-            throw new AppException(ResultCode.CMD_BUSY);
-        }
-        boolean liquidTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取上料区托盘状态
-        Assert.isTrue(!liquidTrayExist, () -> new AppException(ResultCode.OPERATION_NOT_ALLOWED));//上料区不能存在托盘
         String targetHeatModuleCodeStr = cmdDTO.getStringParam("heatModuleCode");
         HeatModuleCode targetHeatModuleCode = HeatModuleCode.valueOf(targetHeatModuleCodeStr);//目标加热模块
         if (targetHeatModuleCode == HeatModuleCode.heat_module_04) {
-            throw new AppException(ResultCode.NOT_ALLOWED_HEAT_MODULE);
+            throw new AppException(ResultCode.NOT_ALLOWED_HEAT_MODULE);//不允许的加热模块
         }
+        boolean liquidTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取上料区托盘状态
+        Assert.isTrue(!liquidTrayExist, () -> new AppException(ResultCode.OPERATION_NOT_ALLOWED));//上料区不能存在托盘
         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 targetHeatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(targetHeatModuleCode);//获取目标加热模块托盘夹取点
-        deviceStateService.getCommandMutexState().get().setTransferCommandExecuting(true);
         return runAsync(() -> {
             try {
+                transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_feed);//申请使用转运模块
+                boolean liquidTrayExistAgain = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取上料区托盘状态
+                Assert.isTrue(!liquidTrayExistAgain, () -> new AppException(ResultCode.OPERATION_NOT_ALLOWED));//上料区不能存在托盘
                 solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂上升
                 boolean heatTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(targetHeatModuleCode);//获取传感器状态
                 Assert.isTrue(heatTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//加热区无托盘
-                //deviceStateService.getDeviceState().getTrayByHeatModuleCode(targetHeatModuleCode).setUseArm(true);//使用机械臂标志
                 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(), targetHeatModuleTrayClawPoint3D.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
@@ -75,12 +80,13 @@ public class OutTrayCommand extends BaseCommandHandler {
                 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().getHeatModuleByCode(targetHeatModuleCode).setTrayStatus(false);//设定目标加热模块托盘状态
-                //deviceStateService.getDeviceState().getSolutionModule().setFeedAreaTrayStatus(true);//设定上料区托盘状态
                 List<TrayState> trayList = deviceStateService.getDeviceState().getTrays();
+                for (TrayState trayState : trayList) {
+                    log.info("点击移出托盘按钮{}", trayState.getHeatModuleCode().name());
+                }//todo 测试是否移除成功
                 trayList.removeIf((tray) -> tray.getHeatModuleCode() != null && tray.getHeatModuleCode().equals(targetHeatModuleCode));
             } finally {
-                deviceStateService.getCommandMutexState().get().setTransferCommandExecuting(false);
-                // deviceStateService.getDeviceState().getTrayByHeatModuleCode(targetHeatModuleCode).setUseArm(false);//使用机械臂标志
+                transferModuleService.releaseTransferModule();//释放转运模组
             }
         });
     }