From 46cb2b1a80215983742d3de2f9cbdccec1524fae Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= Date: Fri, 14 Mar 2025 04:51:22 +0800 Subject: [PATCH] =?UTF-8?q?feat:=E5=AE=8C=E5=96=84=E4=B8=9A=E5=8A=A1?= =?UTF-8?q?=E6=8C=87=E4=BB=A4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../ms/app/common/generator/PathGenerator.java | 4 +- .../app/handler/impl/MatrixSprayChangeParam.java | 10 +- .../ms/app/handler/impl/MatrixSprayContinue.java | 328 +++++++++++++++++++++ .../qyft/ms/app/handler/impl/MatrixSprayStart.java | 57 +++- 4 files changed, 383 insertions(+), 16 deletions(-) diff --git a/src/main/java/com/qyft/ms/app/common/generator/PathGenerator.java b/src/main/java/com/qyft/ms/app/common/generator/PathGenerator.java index f6cae3e..4410e36 100644 --- a/src/main/java/com/qyft/ms/app/common/generator/PathGenerator.java +++ b/src/main/java/com/qyft/ms/app/common/generator/PathGenerator.java @@ -205,7 +205,7 @@ public class PathGenerator { left, right, top, bottom, spacing, MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN ); for (Points p : horizontalPath) { - System.out.println(p); + System.out.println(p.x + "," + p.y); } // 2) 测试垂直之字形(从左往右) @@ -214,7 +214,7 @@ public class PathGenerator { left, right, top, bottom, spacing, MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT ); for (Points p : verticalPath) { - System.out.println(p); + System.out.println(p.x + "," + p.y); } } } \ No newline at end of file diff --git a/src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayChangeParam.java b/src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayChangeParam.java index a9ac1d7..3010ae5 100644 --- a/src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayChangeParam.java +++ b/src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayChangeParam.java @@ -59,12 +59,12 @@ public class MatrixSprayChangeParam implements CommandHandler { Map param = cmdForm.getParam(); emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RECEIVE, "后台已收到指令"), MediaType.APPLICATION_JSON);//向前端发送接收到指令 // 1. 参数校验 - Double motorZHeight = Optional.ofNullable(param.get("motor_z_height")) + Double motorZHeight = Optional.ofNullable(param.get("motorZHeight")) .map(Object::toString) .map(Double::parseDouble) .orElse(null); - Double gasPressure = Optional.ofNullable(param.get("gas_pressure")) + Double gasPressure = Optional.ofNullable(param.get("gasPressure")) .map(Object::toString) .map(Double::parseDouble) .orElse(null); @@ -74,17 +74,17 @@ public class MatrixSprayChangeParam implements CommandHandler { .map(Double::parseDouble) .orElse(null); - Boolean highVoltage = Optional.ofNullable(param.get("high_voltage")) + Boolean highVoltage = Optional.ofNullable(param.get("highVoltage")) .map(Object::toString) .map(Boolean::parseBoolean) .orElse(null); - Double highVoltageValue = Optional.ofNullable(param.get("high_voltage_value")) + Double highVoltageValue = Optional.ofNullable(param.get("highVoltageValue")) .map(Object::toString) .map(Double::parseDouble) .orElse(null); - Double movingSpeed = Optional.ofNullable(param.get("moving_speed")) + Double movingSpeed = Optional.ofNullable(param.get("movingSpeed")) .map(Object::toString) .map(Double::parseDouble) .orElse(null); diff --git a/src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayContinue.java b/src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayContinue.java index 81b7e38..2931f65 100644 --- a/src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayContinue.java +++ b/src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayContinue.java @@ -19,6 +19,11 @@ import org.springframework.scheduling.annotation.Async; import org.springframework.stereotype.Component; import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter; +import java.io.IOException; +import java.util.List; +import java.util.Map; +import java.util.Optional; + /** * 喷涂_基质喷涂继续 */ @@ -40,6 +45,60 @@ public class MatrixSprayContinue implements CommandHandler { String frontCmdId = cmdForm.getCmdId(); String frontCmdName = cmdForm.getCmdName(); emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RECEIVE, "后台已收到指令"), MediaType.APPLICATION_JSON);//向前端发送接收到指令 + Map param = cmdForm.getParam(); + + // 1. 参数校验 + Double motorZHeight = Optional.ofNullable(param.get("motorZHeight")) + .map(Object::toString) + .map(Double::parseDouble) + .orElse(null); + + Double gasPressure = Optional.ofNullable(param.get("gasPressure")) + .map(Object::toString) + .map(Double::parseDouble) + .orElse(null); + + Double volume = Optional.ofNullable(param.get("volume")) + .map(Object::toString) + .map(Double::parseDouble) + .orElse(null); + + Boolean highVoltage = Optional.ofNullable(param.get("highVoltage")) + .map(Object::toString) + .map(Boolean::parseBoolean) + .orElse(null); + + Double highVoltageValue = Optional.ofNullable(param.get("highVoltageValue")) + .map(Object::toString) + .map(Double::parseDouble) + .orElse(null); + + Double movingSpeed = Optional.ofNullable(param.get("movingSpeed")) + .map(Object::toString) + .map(Double::parseDouble) + .orElse(null); + + @SuppressWarnings("unchecked") + List> positionList = (List>) param.get("position"); + + if (validate(emitter, frontCmdId, frontCmdName, motorZHeight, gasPressure, volume, highVoltage, highVoltageValue, movingSpeed, positionList)) + return; + + //1.速度 + if (motorSpeedSet(emitter, movingSpeed, frontCmdId, frontCmdName)) return; + //2.流速 + if (syringePumpVolumeSet(emitter, volume, frontCmdId, frontCmdName)) return; + //3.z轴高度 + Double height = 101.2 - motorZHeight;//TODO 101.2是玻片高度，这个应该从数据库中获取 + if (moveZ(emitter, height, movingSpeed, frontCmdId, frontCmdName)) return; + //4.是否打开高压 + if (highVoltage) {//加电 + highVoltageOpen(emitter, highVoltageValue, frontCmdId, frontCmdName); + } else {//关闭高压 + highVoltageClose(emitter, frontCmdId, frontCmdName); + } + + //开启喷嘴阀 CMDToDevice nozzleValveOpenCMDToDevice = DeviceCommandGenerator.nozzle_valve_open();//生成指令 开启喷嘴阀 CommandFuture nozzleValveOpenCMDToDeviceFuture = new CommandFuture(); @@ -131,4 +190,273 @@ public class MatrixSprayContinue implements CommandHandler { emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "指令执行完毕"), MediaType.APPLICATION_JSON); emitter.complete(); } + + + private boolean motorSpeedSet(ResponseBodyEmitter emitter, Double movingSpeed, String frontCmdId, String frontCmdName) throws IOException { + CMDToDevice motorXSpeedSetCmdToDevice = DeviceCommandGenerator.motor_x_speed_set(movingSpeed); // x轴电机速度设置 + CommandFuture motorXSpeedSetCmdToDeviceFuture = new CommandFuture(); + motorXSpeedSetCmdToDeviceFuture.setCmdToDevice(motorXSpeedSetCmdToDevice); + Integer motorXSpeedSetCmdId = motorXSpeedSetCmdToDevice.getCmdId(); + CurrentSendCmdMapInstance.getInstance().putCommand(motorXSpeedSetCmdId, motorXSpeedSetCmdToDeviceFuture); + deviceClient.sendToJSON(motorXSpeedSetCmdToDevice); + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了x轴电机速度设置指令", motorXSpeedSetCmdToDevice), MediaType.APPLICATION_JSON); + + motorXSpeedSetCmdToDeviceFuture.waitForContinue(); + JSONObject motorXSpeedSetResult = motorXSpeedSetCmdToDeviceFuture.getCallbackResult(); + CurrentSendCmdMapInstance.getInstance().removeCommand(motorXSpeedSetCmdId); + + if (!motorXSpeedSetCmdToDeviceFuture.isReceived()) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "x轴电机速度设置指令响应超时", motorXSpeedSetResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return true; + } + if (motorXSpeedSetResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "x轴电机速度设置指令返回错误", motorXSpeedSetResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return true; + } + Boolean motorXSpeedSetStatus = motorXSpeedSetResult.getBool("result"); + if (!motorXSpeedSetStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "x轴电机速度设置指令执行失败", motorXSpeedSetResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return true; + } + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "x轴电机速度设置指令反馈", motorXSpeedSetResult), MediaType.APPLICATION_JSON); + + + CMDToDevice motorYSpeedSetCmdToDevice = DeviceCommandGenerator.motor_x_speed_set(movingSpeed); // y轴电机速度设置 + CommandFuture motorYSpeedSetCmdToDeviceFuture = new CommandFuture(); + motorYSpeedSetCmdToDeviceFuture.setCmdToDevice(motorYSpeedSetCmdToDevice); + Integer motorYSpeedSetCmdId = motorYSpeedSetCmdToDevice.getCmdId(); + CurrentSendCmdMapInstance.getInstance().putCommand(motorYSpeedSetCmdId, motorYSpeedSetCmdToDeviceFuture); + deviceClient.sendToJSON(motorYSpeedSetCmdToDevice); + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了y轴电机速度设置指令", motorYSpeedSetCmdToDevice), MediaType.APPLICATION_JSON); + + motorYSpeedSetCmdToDeviceFuture.waitForContinue(); + JSONObject motorYSpeedSetResult = motorYSpeedSetCmdToDeviceFuture.getCallbackResult(); + CurrentSendCmdMapInstance.getInstance().removeCommand(motorYSpeedSetCmdId); + + if (!motorYSpeedSetCmdToDeviceFuture.isReceived()) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "y轴电机速度设置指令响应超时", motorYSpeedSetResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return true; + } + if (motorYSpeedSetResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "y轴电机速度设置指令返回错误", motorYSpeedSetResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return true; + } + Boolean motorYSpeedSetStatus = motorYSpeedSetResult.getBool("result"); + if (!motorYSpeedSetStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "y轴电机速度设置指令执行失败", motorYSpeedSetResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return true; + } + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "y轴电机速度设置指令反馈", motorYSpeedSetResult), MediaType.APPLICATION_JSON); + + + CMDToDevice motorZSpeedSetCmdToDevice = DeviceCommandGenerator.motor_x_speed_set(movingSpeed);// z轴电机速度设置 + CommandFuture motorZSpeedSetCmdToDeviceFuture = new CommandFuture(); + motorZSpeedSetCmdToDeviceFuture.setCmdToDevice(motorZSpeedSetCmdToDevice); + Integer motorZSpeedSetCmdId = motorZSpeedSetCmdToDevice.getCmdId(); + CurrentSendCmdMapInstance.getInstance().putCommand(motorZSpeedSetCmdId, motorZSpeedSetCmdToDeviceFuture); + deviceClient.sendToJSON(motorZSpeedSetCmdToDevice); + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了z轴电机速度设置指令", motorZSpeedSetCmdToDevice), MediaType.APPLICATION_JSON); + + motorZSpeedSetCmdToDeviceFuture.waitForContinue(); + JSONObject motorZSpeedSetResult = motorZSpeedSetCmdToDeviceFuture.getCallbackResult(); + CurrentSendCmdMapInstance.getInstance().removeCommand(motorZSpeedSetCmdId); + + if (!motorZSpeedSetCmdToDeviceFuture.isReceived()) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "z轴电机速度设置指令响应超时", motorZSpeedSetResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return true; + } + if (motorZSpeedSetResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "z轴电机速度设置指令返回错误", motorZSpeedSetResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return true; + } + Boolean motorZSpeedSetStatus = motorZSpeedSetResult.getBool("result"); + if (!motorZSpeedSetStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "z轴电机速度设置指令执行失败", motorZSpeedSetResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return true; + } + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "z轴电机速度设置指令反馈", motorZSpeedSetResult), MediaType.APPLICATION_JSON); + return false; + } + + private boolean syringePumpVolumeSet(ResponseBodyEmitter emitter, Double volume, String frontCmdId, String frontCmdName) throws IOException { + CMDToDevice syringePumpVolumeSetCmdToDevice = DeviceCommandGenerator.syringe_pump_volume_set(volume);//注射泵流速设置 + CommandFuture syringePumpVolumeSetCmdToDeviceFuture = new CommandFuture(); + syringePumpVolumeSetCmdToDeviceFuture.setCmdToDevice(syringePumpVolumeSetCmdToDevice); + Integer syringePumpVolumeSetCmdId = syringePumpVolumeSetCmdToDevice.getCmdId(); + CurrentSendCmdMapInstance.getInstance().putCommand(syringePumpVolumeSetCmdId, syringePumpVolumeSetCmdToDeviceFuture); // 将指令放入map + deviceClient.sendToJSON(syringePumpVolumeSetCmdToDevice); // 发送指令给设备 + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了注射泵流速设置指令", syringePumpVolumeSetCmdToDevice), MediaType.APPLICATION_JSON); + + syringePumpVolumeSetCmdToDeviceFuture.waitForContinue(); // 等待设备反馈 + JSONObject syringePumpVolumeSetResult = syringePumpVolumeSetCmdToDeviceFuture.getCallbackResult(); // 获取设备返回结果 + CurrentSendCmdMapInstance.getInstance().removeCommand(syringePumpVolumeSetCmdId); // 从map中删除该指令 + + if (!syringePumpVolumeSetCmdToDeviceFuture.isReceived()) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "注射泵流速设置指令响应超时", syringePumpVolumeSetResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return true; + } + + if (syringePumpVolumeSetResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "注射泵流速设置指令返回错误", syringePumpVolumeSetResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return true; + } + + Boolean syringePumpVolumeSetStatus = syringePumpVolumeSetResult.getBool("result"); + if (!syringePumpVolumeSetStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "注射泵流速设置指令执行失败", syringePumpVolumeSetResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return true; + } + + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "注射泵流速设置指令反馈", syringePumpVolumeSetResult), MediaType.APPLICATION_JSON); + return false; + } + + private void highVoltageClose(ResponseBodyEmitter emitter, String frontCmdId, String frontCmdName) throws IOException { + CMDToDevice highVoltageCloseCmdToDevice = DeviceCommandGenerator.high_voltage_close();//关闭高压 + CommandFuture highVoltageCloseCmdToDeviceFuture = new CommandFuture(); + highVoltageCloseCmdToDeviceFuture.setCmdToDevice(highVoltageCloseCmdToDevice); + Integer highVoltageCloseCmdId = highVoltageCloseCmdToDevice.getCmdId(); + CurrentSendCmdMapInstance.getInstance().putCommand(highVoltageCloseCmdId, highVoltageCloseCmdToDeviceFuture); // 将指令放入map + deviceClient.sendToJSON(highVoltageCloseCmdToDevice); // 发送指令给设备 + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了关闭高压指令", highVoltageCloseCmdToDevice), MediaType.APPLICATION_JSON); + + highVoltageCloseCmdToDeviceFuture.waitForContinue(); // 等待设备反馈 + JSONObject highVoltageCloseResult = highVoltageCloseCmdToDeviceFuture.getCallbackResult(); // 获取设备返回结果 + CurrentSendCmdMapInstance.getInstance().removeCommand(highVoltageCloseCmdId); // 从map中删除该指令 + + if (!highVoltageCloseCmdToDeviceFuture.isReceived()) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭高压指令响应超时", highVoltageCloseResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + + if (highVoltageCloseResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭高压指令返回错误", highVoltageCloseResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + + Boolean highVoltageCloseStatus = highVoltageCloseResult.getBool("result"); + if (!highVoltageCloseStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭高压指令执行失败", highVoltageCloseResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "关闭高压指令反馈", highVoltageCloseResult), MediaType.APPLICATION_JSON); + } + + private static boolean validate(ResponseBodyEmitter emitter, String frontCmdId, String frontCmdName, Double motorZHeight, Double gasPressure, Double volume, Boolean highVoltage, Double highVoltageValue, Double movingSpeed, List> positionList) throws IOException { + if (motorZHeight == null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "参数 motor_z_height 必填"), MediaType.APPLICATION_JSON); + emitter.complete(); + return true; + } + if (gasPressure == null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "参数 gas_pressure 必填"), MediaType.APPLICATION_JSON); + emitter.complete(); + return true; + } + if (volume == null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "参数 volume 必填"), MediaType.APPLICATION_JSON); + emitter.complete(); + return true; + } + if (highVoltage == null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "参数 high_voltage 必填"), MediaType.APPLICATION_JSON); + emitter.complete(); + return true; + } + if (highVoltageValue == null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "参数 high_voltage_value 必填"), MediaType.APPLICATION_JSON); + emitter.complete(); + return true; + } + if (movingSpeed == null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "参数 moving_speed 必填"), MediaType.APPLICATION_JSON); + emitter.complete(); + return true; + } + if (positionList == null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "参数 position 必填"), MediaType.APPLICATION_JSON); + emitter.complete(); + return true; + } + return false; + } + + + private boolean moveZ(ResponseBodyEmitter emitter, Double height, Double movingSpeed, String frontCmdId, String frontCmdName) throws IOException { + CMDToDevice motorZPositionSetDownCmdToDevice = DeviceCommandGenerator.motor_z_position_set(height, movingSpeed);//移动z轴到指定位置 + CommandFuture motorZPositionSetDownCmdToDeviceFuture = new CommandFuture(); + motorZPositionSetDownCmdToDeviceFuture.setCmdToDevice(motorZPositionSetDownCmdToDevice); + Integer motorZPositionSetDownCmdToDeviceCmdId = motorZPositionSetDownCmdToDevice.getCmdId(); + CurrentSendCmdMapInstance.getInstance().putCommand(motorZPositionSetDownCmdToDeviceCmdId, motorZPositionSetDownCmdToDeviceFuture);//将指令放入map + deviceClient.sendToJSON(motorZPositionSetDownCmdToDevice); //发送指令给设备 + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了移动z轴到指定位置指令", motorZPositionSetDownCmdToDevice), MediaType.APPLICATION_JSON); + motorZPositionSetDownCmdToDeviceFuture.waitForContinue();//等待设备的反馈 + JSONObject motorZPositionSetDownCmdToDeviceResult = motorZPositionSetDownCmdToDeviceFuture.getCallbackResult();//拿到设备返回结果 + CurrentSendCmdMapInstance.getInstance().removeCommand(motorZPositionSetDownCmdToDeviceCmdId);//将指令从map中删除 + if (!motorZPositionSetDownCmdToDeviceFuture.isReceived()) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动z轴到指定位指令置响应超时", motorZPositionSetDownCmdToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return true; + } + if (motorZPositionSetDownCmdToDeviceResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动z轴到指定位指令返回错误", motorZPositionSetDownCmdToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return true; + } + + Boolean motorZPositionSetDownCmdToDeviceResultStatus = motorZPositionSetDownCmdToDeviceResult.getBool("result"); + if (!motorZPositionSetDownCmdToDeviceResultStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动z轴到指定位指令执行失败", motorZPositionSetDownCmdToDeviceResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return true; + } + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "移动z轴到指定位指令反馈", motorZPositionSetDownCmdToDeviceResult), MediaType.APPLICATION_JSON); + return false; + } + + private boolean highVoltageOpen(ResponseBodyEmitter emitter, Double highVoltageValue, String frontCmdId, String frontCmdName) throws IOException { + CMDToDevice highVoltageOpenCmdToDevice = DeviceCommandGenerator.high_voltage_open(highVoltageValue);//开启高压 + CommandFuture highVoltageOpenCmdToDeviceFuture = new CommandFuture(); + highVoltageOpenCmdToDeviceFuture.setCmdToDevice(highVoltageOpenCmdToDevice); + Integer highVoltageOpenCmdId = highVoltageOpenCmdToDevice.getCmdId(); + CurrentSendCmdMapInstance.getInstance().putCommand(highVoltageOpenCmdId, highVoltageOpenCmdToDeviceFuture); // 将指令放入map + deviceClient.sendToJSON(highVoltageOpenCmdToDevice); // 发送指令给设备 + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了开启高压指令", highVoltageOpenCmdToDevice), MediaType.APPLICATION_JSON); + highVoltageOpenCmdToDeviceFuture.waitForContinue(); // 等待设备反馈 + JSONObject highVoltageOpenResult = highVoltageOpenCmdToDeviceFuture.getCallbackResult(); // 获取设备返回结果 + CurrentSendCmdMapInstance.getInstance().removeCommand(highVoltageOpenCmdId); // 从map中删除该指令 + if (!highVoltageOpenCmdToDeviceFuture.isReceived()) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "开启高压指令响应超时", highVoltageOpenResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return true; + } + if (highVoltageOpenResult.getJSONObject("error") != null) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "开启高压指令返回错误", highVoltageOpenResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return true; + } + Boolean highVoltageOpenStatus = highVoltageOpenResult.getBool("result"); + if (!highVoltageOpenStatus) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "开启高压指令执行失败", highVoltageOpenResult), MediaType.APPLICATION_JSON); + emitter.complete(); + return true; + } + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "开启高压指令反馈", highVoltageOpenResult), MediaType.APPLICATION_JSON); + return false; + } } diff --git a/src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayStart.java b/src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayStart.java index 9469337..2222585 100644 --- a/src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayStart.java +++ b/src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayStart.java @@ -219,8 +219,8 @@ public class MatrixSprayStart implements CommandHandler { for (int i = 0; i < times; i++) { double topReal = top; double bottomReal = bottom; - if (i % 2 == 0) {//双数喷涂 - double halfSpacing = (double) spacing / 2; + if (i != 0 && i % 2 == 0) {//双数喷涂 + double halfSpacing = spacing / 2; topReal = top - halfSpacing; bottomReal = bottom + halfSpacing; } @@ -230,13 +230,26 @@ public class MatrixSprayStart implements CommandHandler { PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN ); if (pathSpray(emitter, frontCmdId, frontCmdName, volume, pathList, movingSpeed)) return;//路径喷涂 + if (i + 1 != times) { //如果不是最后一次，执行完毕后回到玻片原点 + log.info("123"); + latch = new CountDownLatch(2); + deviceMessageHandler.setLatch(latch); + if (moveX(emitter, slide[0], frontCmdId, frontCmdName)) return; + if (moveY(emitter, slide[1], frontCmdId, frontCmdName)) return; + finished = latch.await(10, TimeUnit.SECONDS); + if (!finished) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "等待指令执行完成超时"), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + } } } else if ("vertical".equals(matrixPathType)) { for (int i = 0; i < times; i++) { double leftReal = left; double rightReal = right; - if (i % 2 == 0) {//双数喷涂 - double halfSpacing = (double) spacing / 2; + if (i != 0 && i % 2 == 0) {//双数喷涂 + double halfSpacing = spacing / 2; leftReal = top - halfSpacing; rightReal = bottom + halfSpacing; } @@ -246,6 +259,19 @@ public class MatrixSprayStart implements CommandHandler { PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT ); if (pathSpray(emitter, frontCmdId, frontCmdName, volume, pathList, movingSpeed)) return;//路径喷涂 + if (i + 1 != times) { //如果不是最后一次，执行完毕后回到玻片原点 + log.info("123"); + latch = new CountDownLatch(2); + deviceMessageHandler.setLatch(latch); + if (moveX(emitter, slide[0], frontCmdId, frontCmdName)) return; + if (moveY(emitter, slide[1], frontCmdId, frontCmdName)) return; + finished = latch.await(10, TimeUnit.SECONDS); + if (!finished) { + emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "等待指令执行完成超时"), MediaType.APPLICATION_JSON); + emitter.complete(); + return; + } + } } } else if ("grid".equals(matrixPathType)) {//横竖喷2次 for (int i = 0; i < times; i++) { @@ -253,8 +279,8 @@ public class MatrixSprayStart implements CommandHandler { double rightReal = right; double topReal = top; double bottomReal = bottom; - if (i % 2 == 0) {//双数喷涂 - double halfSpacing = (double) spacing / 2; + if (i != 0 && i % 2 == 0) {//双数喷涂 + double halfSpacing = spacing / 2; leftReal = top - halfSpacing; rightReal = bottom + halfSpacing; topReal = top - halfSpacing; @@ -271,11 +297,24 @@ public class MatrixSprayStart implements CommandHandler { spacing, PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN ); - if (pathSpray(emitter, frontCmdId, frontCmdName, volume, pathList, movingSpeed)) return;//路径喷涂 +// if (pathSpray(emitter, frontCmdId, frontCmdName, volume, pathList, movingSpeed)) return;//路径喷涂 + if (i + 1 != times) { //如果不是最后一次，执行完毕后回到玻片原点 + log.info("123"); +// latch = new CountDownLatch(2); +// deviceMessageHandler.setLatch(latch); +// if (moveX(emitter, slide[0], frontCmdId, frontCmdName)) return; +// if (moveY(emitter, slide[1], frontCmdId, frontCmdName)) return; +// finished = latch.await(10, TimeUnit.SECONDS); +// if (!finished) { +// emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "等待指令执行完成超时"), MediaType.APPLICATION_JSON); +// emitter.complete(); +// return; +// } + } } } } - //10.关高压电 + /* //10.关高压电 if (highVoltageClose(emitter, frontCmdId, frontCmdName)) return; //11.回到原点 motorMoveToHome 先 z latch = new CountDownLatch(1); @@ -302,7 +341,7 @@ public class MatrixSprayStart implements CommandHandler { return; } //12.结束日志 - //TODO写日志 + //TODO写日志*/ emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "指令执行完毕"), MediaType.APPLICATION_JSON); emitter.complete(); }