p_graphite_digester
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graphite_digester_bg
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sige 1 year ago
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cda9d5dcf2
2 changed files with 41 additions and 41 deletions
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  1. 80
      src/src/main/java/com/my/graphiteDigesterBg/task/TaskStartReset.java
  2. 2
      src/src/main/java/com/my/graphiteDigesterBg/task/TaskStopReset.java

80
src/src/main/java/com/my/graphiteDigesterBg/task/TaskStartReset.java
View File

@ -10,62 +10,62 @@ import com.my.graphiteDigesterBg.model.MdbOperationLog;
@Task(name="StartReset")
public class TaskStartReset extends DiTaskBase {
@Override
public void run() {
protected void execute() {
MdbOperationLog.log(this.getUser(), "设备初始化");
var runtimeVars = this.getDevice().getRuntimeVariables();
runtimeVars.setString("IsDeviceReady", "NO");
runtimeVars.setString("IsTaskStartResetExecuting", "YES");
this.setProgressMessage("设备初始化...");
// this.setProgressMessage("设备初始化 : 关闭设备门");
// DiActMotor doorMotor = this.getActuator(MyDevice.ACT_DOOR_MOTOR, DiActMotor.class);
// doorMotor.setEnable(true);
// doorMotor.moveToIO(1, 1);
//
// this.setProgressMessage("设备初始化 : 关闭夹爪");
// DiActServo transferClipServo = this.getActuator(MyDevice.ACT_TRANSFER_CLIP_SERVO, DiActServo.class);
// transferClipServo.setEnable(true);
// transferClipServo.moveTo("TransClipServoClose");
//
this.setProgressMessage("设备初始化 : 关闭设备门");
DiActMotor doorMotor = this.getActuator(MyDevice.ACT_DOOR_MOTOR, DiActMotor.class);
doorMotor.setEnable(true);
doorMotor.moveToIO(1, 1);
this.setProgressMessage("设备初始化 : 关闭夹爪");
DiActServo transferClipServo = this.getActuator(MyDevice.ACT_TRANSFER_CLIP_SERVO, DiActServo.class);
transferClipServo.setEnable(true);
transferClipServo.moveTo("TransClipServoClose");
this.setProgressMessage("设备初始化 : 加液臂复位");
DiActMotor liquidMotor = this.getActuator(MyDevice.ACT_LIQUID_MOTOR, DiActMotor.class);
liquidMotor.setEnable(true);
liquidMotor.reset();
liquidMotor.moveTo("LiquidArmStandby");
//
// // @todo http://127.0.0.1:5566/issues/38
// this.setProgressMessage("设备初始化 : 搬运机械臂上下移动复位");
// DiActMotor transUdMotor = this.getActuator(MyDevice.ACT_TRANSFER_UD_MOTOR, DiActMotor.class);
// transUdMotor.setEnable(true);
// transUdMotor.reset();
// transUdMotor.moveTo("TransUdMotorStandby");
//
// this.setProgressMessage("设备初始化 : 搬运机械臂左右移动复位");
// DiActMotor transLrMotor = this.getActuator(MyDevice.ACT_TRANSFER_LR_MOTOR, DiActMotor.class);
// transLrMotor.setEnable(true);
// transLrMotor.reset();
// transLrMotor.moveTo("TransLrMotorStandby");
//
// for ( int i=0; i<5; i++ ) {
// this.setProgressMessage("设备初始化 : 加热盘转盘槽盖关闭 " + (i+1) + "/5");
// String key = "HeatingPlateMotorSlotCover_" + i;
// DiActServo heatSlotCoverServo = this.getActuator(key, DiActServo.class);
// heatSlotCoverServo.setEnable(true);
// heatSlotCoverServo.setCurrentPosAsMiddle();
// }
//
// @todo http://127.0.0.1:5566/issues/38
this.setProgressMessage("设备初始化 : 搬运机械臂上下移动复位");
DiActMotor transUdMotor = this.getActuator(MyDevice.ACT_TRANSFER_UD_MOTOR, DiActMotor.class);
transUdMotor.setEnable(true);
transUdMotor.reset();
transUdMotor.moveTo("TransUdMotorStandby");
this.setProgressMessage("设备初始化 : 搬运机械臂左右移动复位");
DiActMotor transLrMotor = this.getActuator(MyDevice.ACT_TRANSFER_LR_MOTOR, DiActMotor.class);
transLrMotor.setEnable(true);
transLrMotor.reset();
transLrMotor.moveTo("TransLrMotorStandby");
for ( int i=0; i<5; i++ ) {
this.setProgressMessage("设备初始化 : 加热盘转盘槽盖关闭 " + (i+1) + "/5");
String key = "HeatingPlateMotorSlotCover_" + i;
DiActServo heatSlotCoverServo = this.getActuator(key, DiActServo.class);
heatSlotCoverServo.setEnable(true);
heatSlotCoverServo.setCurrentPosAsMiddle();
}
// @TODO : http://127.0.0.1:5566/issues/39
this.setProgressMessage("设备初始化 : 加液转盘复位");
DiActMotor liquidPlateMotor = this.getActuator(MyDevice.ACT_LIQUID_PLATE_MOTOR, DiActMotor.class);
liquidPlateMotor.setEnable(true);
liquidPlateMotor.reset();
//
// // @TODO : http://127.0.0.1:5566/issues/40
// this.setProgressMessage("设备初始化 : 加热盘转盘复位");
// DiActMotor heatPlateMotor = this.getActuator(MyDevice.ACT_HEAT_PLATE_MOTOR, DiActMotor.class);
// heatPlateMotor.setEnable(true);
// heatPlateMotor.reset();
// heatPlateMotor.moveTo("HeatPlateStandby");
// @TODO : http://127.0.0.1:5566/issues/40
this.setProgressMessage("设备初始化 : 加热盘转盘复位");
DiActMotor heatPlateMotor = this.getActuator(MyDevice.ACT_HEAT_PLATE_MOTOR, DiActMotor.class);
heatPlateMotor.setEnable(true);
heatPlateMotor.reset();
heatPlateMotor.moveTo("HeatPlateStandby");
int peristalticPumpCount = 1;
var actuators = this.getDevice().getActuators().getAll();

2
src/src/main/java/com/my/graphiteDigesterBg/task/TaskStopReset.java
View File

@ -5,7 +5,7 @@ import com.my.graphiteDigesterBg.model.MdbOperationLog;
@Task(name="StopReset")
public class TaskStopReset extends DiTaskBase {
@Override
public void run() {
protected void execute() {
this.setStatus(TaskStatus.RUNNING);
MdbOperationLog.log(this.getUser(), "停止复位");

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