From 0d45e7a018a15928e865265d238c14099d5d405f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= Date: Wed, 26 Feb 2025 10:00:16 +0800 Subject: [PATCH] =?UTF-8?q?fix:=E9=85=8D=E5=90=88=E8=B0=83=E8=AF=95?= =?UTF-8?q?=E4=BF=AE=E6=94=B9=E4=BB=A3=E7=A0=81?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../qyft/gd/device/common/constant/DeviceCommands.java | 2 +- .../java/com/qyft/gd/device/model/bo/DeviceStatus.java | 2 +- .../java/com/qyft/gd/device/service/DeviceService.java | 4 +++- src/main/java/com/qyft/gd/service/CMDService.java | 16 ++++++++-------- 4 files changed, 13 insertions(+), 11 deletions(-) diff --git a/src/main/java/com/qyft/gd/device/common/constant/DeviceCommands.java b/src/main/java/com/qyft/gd/device/common/constant/DeviceCommands.java index cd2c75a..c944ceb 100644 --- a/src/main/java/com/qyft/gd/device/common/constant/DeviceCommands.java +++ b/src/main/java/com/qyft/gd/device/common/constant/DeviceCommands.java @@ -115,7 +115,7 @@ public class DeviceCommands { /** * 停止加热 */ - public static final String STOP_HEATING = "stopHeating"; + public static final String STOP_HEATING = "closeHeating"; /** * 抬起托盘 diff --git a/src/main/java/com/qyft/gd/device/model/bo/DeviceStatus.java b/src/main/java/com/qyft/gd/device/model/bo/DeviceStatus.java index 7203c48..51e50dd 100644 --- a/src/main/java/com/qyft/gd/device/model/bo/DeviceStatus.java +++ b/src/main/java/com/qyft/gd/device/model/bo/DeviceStatus.java @@ -89,7 +89,7 @@ public class DeviceStatus { @Schema(description = "托盘状态,0为无托盘,1为有托盘,2为托盘抬起") private Integer trayStatus; @Schema(description = "是否正在加热,true为正在加热,false为未加热") - private Double isHeating; + private Boolean isHeating; @Schema(description = "拍子状态,true为存在拍子,false无拍子") private Boolean capStatus; @Schema(description = "拍子密封状态,true为已密封,false为未密封") diff --git a/src/main/java/com/qyft/gd/device/service/DeviceService.java b/src/main/java/com/qyft/gd/device/service/DeviceService.java index 42a8e37..0ca91e6 100644 --- a/src/main/java/com/qyft/gd/device/service/DeviceService.java +++ b/src/main/java/com/qyft/gd/device/service/DeviceService.java @@ -208,7 +208,9 @@ public class DeviceService { * 收合夹爪 */ public synchronized boolean closeClaw() { - DeviceFeedback deviceFeedback = tcpClient.sendCommand(DeviceCommands.CLOSE_CLAW); + Map params = new HashMap<>(); + params.put("mode", "FULL_CLOSED"); + DeviceFeedback deviceFeedback = tcpClient.sendCommand(DeviceCommands.CLOSE_CLAW, params); if (deviceFeedback == null || deviceFeedback.getError() != null) { log.error("TCP closeClaw 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback)); return false; diff --git a/src/main/java/com/qyft/gd/service/CMDService.java b/src/main/java/com/qyft/gd/service/CMDService.java index 7115b26..5028512 100644 --- a/src/main/java/com/qyft/gd/service/CMDService.java +++ b/src/main/java/com/qyft/gd/service/CMDService.java @@ -136,19 +136,19 @@ public class CMDService { // 打开钩子 cmdList.add(() -> deviceService.openClaw()); // 下降高度 - cmdList.add(() -> deviceService.moveRailArmToPoint(x2, y2, z2 - (Integer) map.get("sys_offset_tube_rack_take_height"))); + cmdList.add(() -> deviceService.moveRailArmToPoint(x2, y2, z2 - Integer.parseInt((String)map.get("sys_offset_tube_rack_take_height")))); // 闭合钩子 cmdList.add(() -> deviceService.closeClaw()); // 机械臂抬起高度 - cmdList.add(() -> deviceService.moveRailArmToPoint(x2, y2, z2 + (Integer) map.get("sys_offset_tube_rack_take_height") + (Integer) map.get("sys_offset_tube_height"))); + cmdList.add(() -> deviceService.moveRailArmToPoint(x2, y2, z2 + Integer.parseInt((String)map.get("sys_offset_tube_rack_take_height")) + Integer.parseInt((String)map.get("sys_offset_tube_height")))); // 机械臂移动到指定加热位 - cmdList.add(() -> deviceService.moveRailArmToPoint(x1, y1, z2 + (Integer) map.get("sys_offset_tube_rack_take_height") + (Integer) map.get("sys_offset_tube_height"))); + cmdList.add(() -> deviceService.moveRailArmToPoint(x1, y1, z2 + Integer.parseInt((String)map.get("sys_offset_tube_rack_take_height")) + Integer.parseInt((String)map.get("sys_offset_tube_height")))); // 机械臂下降高度 cmdList.add(() -> deviceService.moveRailArmToPoint(x1, y1, z1)); // 机械臂打开钩子 cmdList.add(() -> deviceService.openClaw()); // 机械臂上升高度 - cmdList.add(() -> deviceService.moveRailArmToPoint(x1, y1, z1 + (Integer) map.get("sys_offset_tube_rack_take_height"))); + cmdList.add(() -> deviceService.moveRailArmToPoint(x1, y1, z1 + Integer.parseInt((String)map.get("sys_offset_tube_rack_take_height")))); // 关闭钩子 cmdList.add(() -> deviceService.closeClaw()); @@ -354,19 +354,19 @@ public class CMDService { // 打开钩子 cmdList.add(() -> deviceService.openClaw()); // 下降高度 - cmdList.add(() -> deviceService.moveRailArmToPoint(x1, y1, z1 - (Integer) map.get("sys_offset_tube_rack_take_height"))); + cmdList.add(() -> deviceService.moveRailArmToPoint(x1, y1, z1 - Integer.parseInt((String)map.get("sys_offset_tube_rack_take_height")))); // 闭合钩子 cmdList.add(() -> deviceService.closeClaw()); // 机械臂抬起高度 - cmdList.add(() -> deviceService.moveRailArmToPoint(x1, y1, z1 + (Integer) map.get("sys_offset_tube_rack_take_height") + (Integer) map.get("sys_offset_tube_height"))); + cmdList.add(() -> deviceService.moveRailArmToPoint(x1, y1, z1 + Integer.parseInt((String)map.get("sys_offset_tube_rack_take_height")) + Integer.parseInt((String)map.get("sys_offset_tube_height")))); // 机械臂移动到加液位高度 - cmdList.add(() -> deviceService.moveRailArmToPoint(x2, y2, z1 + (Integer) map.get("sys_offset_tube_rack_take_height") + (Integer) map.get("sys_offset_tube_height"))); + cmdList.add(() -> deviceService.moveRailArmToPoint(x2, y2, z1 + Integer.parseInt((String)map.get("sys_offset_tube_rack_take_height")) + Integer.parseInt((String)map.get("sys_offset_tube_height")))); // 机械臂下降高度 cmdList.add(() -> deviceService.moveRailArmToPoint(x2, y2, z2)); // 机械臂打开钩子 cmdList.add(() -> deviceService.openClaw()); // 机械臂上升高度 - cmdList.add(() -> deviceService.moveRailArmToPoint(x2, y2, z2 + (Integer) map.get("sys_offset_tube_rack_take_height"))); + cmdList.add(() -> deviceService.moveRailArmToPoint(x2, y2, z2 + Integer.parseInt((String)map.get("sys_offset_tube_rack_take_height")))); // 关闭钩子 cmdList.add(() -> deviceService.closeClaw());