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 c7dc3c6..45521e2 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 @@ -12,86 +12,127 @@ import java.util.List; @Data public class DeviceStatus { - @Schema(description = "门状态,true为开启状态,false为关闭状态") + @Schema(description = "是否是急停状态,true为急停") + private Boolean emergencyStop; + + @Schema(description = "门状态,0为关闭状态,1为开启状态") private Boolean doorStatus; + @Schema(description = "导轨机械臂状态") private RailArm railArm; - @Schema(description = "加液机械臂状态") - private LiquidArm liquidArm; - @Schema(description = "加液泵状态") - private List pump; - @Schema(description = "摇匀状态,true为正在摇匀,false为停止摇匀") - private Boolean shakingStatus; - @Schema(description = "摇匀速度") - private Integer shakingSpeed; - @Schema(description = "加热状态,true为正在摇匀,false为停止摇匀") - private Boolean heatingStatus; - @Schema(description = "加热器状态") - private List heater; - @Schema(description = "加液位是否存在托盘,true为存在托盘,false为无托盘") - private Boolean liquidTrayStatus; + @Schema(description = "加液操作区属性") + private LiquidArea liquidArea; + + @Schema(description = "加热操作区属性") + private List heater; + + @Schema(description = "碱容器状态") + private LiquidBucket alkaliBucket; + + + /** + * 导轨机械臂属性 + */ @Data - public static class RailArm{ - @Schema(description = "所在x坐标") + public static class RailArm { + @Schema(description = "当前所在x坐标") private Integer x; - @Schema(description = "所在y坐标") + @Schema(description = "当前所在y坐标") private Integer y; - @Schema(description = "所在z坐标") + @Schema(description = "当前所在z坐标") private Integer z; - @Schema(description = "轴1角度") + @Schema(description = "当前轴1角度") private Double joint1; - @Schema(description = "轴2角度") + @Schema(description = "当前轴2角度") private Double joint2; - @Schema(description = "导轨移动距离") + @Schema(description = "当前机械臂(轴3)上下移动距离") + private Integer distance; + @Schema(description = "当前导轨移动距离") private Double railDistance; - @Schema(description = "夹爪移动距离") + @Schema(description = "当前夹爪移动距离") private Double clawDistance; - @Schema(description = "机械臂速度") - private int speed; @Schema(description = "夹爪状态,true为张开状态,false为闭合状态") private Boolean clawStatus; + @Schema(description = "导轨是否在原点,true为在原点") + private int isZeroPos; + @Schema(description = "导轨是否在限位点,true为在限位点") + private int isLimitPos; + } + + + /** + * 加液操作区属性 + */ + @Data + public static class LiquidArea { + @Schema(description = "加液机械臂状态") + private LiquidArm liquidArm; + + @Schema(description = "是否正在摇匀,true为正在摇匀,false为停止摇匀") + private Boolean isShaking; + + @Schema(description = "是否存在托盘,true为存在托盘,false为无托盘") + private Boolean liquidTray; + + @Schema(description = "溶液容器状态") + private LiquidBucket solutionBucket; } + /** + * 加热操作区属性 + */ @Data - public static class LiquidArm{ - @Schema(description = "所在x坐标") + public static class HeatingArea { + @Schema(description = "加热器id") + private String heaterId; + @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; + @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") + private Boolean isSealed; + } + + + /** + * 加液机械臂属性 + */ + @Data + public static class LiquidArm { + @Schema(description = "当前所在x坐标") private Integer x; - @Schema(description = "所在y坐标") + @Schema(description = "当前所在y坐标") private Integer y; - @Schema(description = "所在z坐标") + @Schema(description = "当前所在z坐标") private Integer z; - @Schema(description = "轴1角度") + @Schema(description = "当前轴1角度") private Double joint1; - @Schema(description = "轴2角度") + @Schema(description = "当前轴2角度") private Double joint2; - @Schema(description = "机械臂速度") - private int speed; + @Schema(description = "加液泵状态") + private List pump; } + /** + * 泵属性 + */ @Data - public static class Pump{ + public static class Pump { @Schema(description = "加液泵id") private String pumpId; - @Schema(description = "加液泵流量") - private Integer flowRate; + @Schema(description = "是否正在加液,true正在加液,false未运行") + private Integer isPumping; } + @Data - public static class Heater{ - @Schema(description = "加热器id") - private String heaterId; - @Schema(description = "托盘状态,true为存在托盘,false为无托盘") - private Boolean trayStatus; - @Schema(description = "托盘移动的距离") - private Double trayHeight; - @Schema(description = "托盘移动的速度") - private Double traySpeed; - @Schema(description = "加热状态,true为正在加热,false为未加热") - private Double heatingStatus; - @Schema(description = "加热目标温度") - private Double temperature; - @Schema(description = "拍子状态,true为存在拍子,false无拍子") - private Boolean capStatus; + public static class LiquidBucket { + @Schema(description = "容器是否为空,true为空,false不为空") + private Boolean isEmpty; + @Schema(description = "容器是否为满,true为满,false不满") + private Boolean isFull; } } 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 f9a8ef9..5cbdba7 100644 --- a/src/main/java/com/qyft/gd/device/service/DeviceService.java +++ b/src/main/java/com/qyft/gd/device/service/DeviceService.java @@ -95,7 +95,7 @@ public class DeviceService { * @param joint2 关节2角度 * @param distance 移动距离 */ - public boolean moveRailArmJoint(double joint1, double joint2, double distance) { + public boolean moveRailArmJoint(double joint1, double joint2, int distance) { Map params = new HashMap<>(); params.put("joint1", joint1); params.put("joint2", joint2);