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matrix-spray
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同步代码

master
白凤吉 5 months ago
parent
e84b75ca82
commit
9ef263d5fe
4 changed files with 96 additions and 50 deletions
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  1. 8
      src/main/java/com/qyft/ms/app/handler/impl/SlideTrayIn.java
  2. 7
      src/main/java/com/qyft/ms/app/handler/impl/SlideTrayOut.java
  3. 55
      src/main/java/com/qyft/ms/app/handler/impl/SyringePipelineWash.java
  4. 16
      src/main/java/com/qyft/ms/app/handler/impl/SyringePipelineWashStop.java

8
src/main/java/com/qyft/ms/app/handler/impl/SlideTrayIn.java
View File

@ -58,12 +58,16 @@ public class SlideTrayIn implements CommandHandler {
emitter.complete();
return;
}
Boolean slideTrayInCmdToDeviceResultStatus = slideTrayInCmdToDeviceResult.getBool("result");
if (!slideTrayInCmdToDeviceResultStatus) {
Object slideTrayInCmdToDeviceResultStatus = slideTrayInCmdToDeviceResult.getObj("result");
if (slideTrayInCmdToDeviceResultStatus instanceof Boolean) {
if (!(Boolean) slideTrayInCmdToDeviceResultStatus) {
emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "推入玻片托盘指令执行失败", slideTrayInCmdToDeviceResult), MediaType.APPLICATION_JSON);
emitter.complete();
return;
}
}
emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "推入玻片托盘指令反馈", slideTrayInCmdToDeviceResult), MediaType.APPLICATION_JSON);
emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "指令执行完毕"), MediaType.APPLICATION_JSON);
emitter.complete();

7
src/main/java/com/qyft/ms/app/handler/impl/SlideTrayOut.java
View File

@ -57,12 +57,15 @@ public class SlideTrayOut implements CommandHandler {
return;
}
Boolean slideTrayOutCmdToDeviceResultStatus = slideTrayOutCmdToDeviceResult.getBool("result");
if (!slideTrayOutCmdToDeviceResultStatus) {
Object slideTrayOutCmdToDeviceResultStatus = slideTrayOutCmdToDeviceResult.getObj("result");
if (slideTrayOutCmdToDeviceResultStatus instanceof Boolean) {
if (!(Boolean) slideTrayOutCmdToDeviceResultStatus) {
emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "推出玻片托盘指令执行失败", slideTrayOutCmdToDeviceResult), MediaType.APPLICATION_JSON);
emitter.complete();
return;
}
}
emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "推出玻片托盘指令反馈", slideTrayOutCmdToDeviceResult), MediaType.APPLICATION_JSON);
emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "指令执行完毕"), MediaType.APPLICATION_JSON);
emitter.complete();

55
src/main/java/com/qyft/ms/app/handler/impl/SyringePipelineWash.java
View File

@ -77,6 +77,15 @@ public class SyringePipelineWash implements CommandHandler {
emitter.complete();
return;
}
Object motorXYZPositionGetCmdToDeviceResultStatus = motorXYZPositionGetCmdToDeviceResult.getObj("result");
if (motorXYZPositionGetCmdToDeviceResultStatus instanceof Boolean) {
if (!(Boolean) motorXYZPositionGetCmdToDeviceResultStatus) {
emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "获得电机XYZ相对原点坐标指令执行失败", motorXYZPositionGetCmdToDeviceResult), MediaType.APPLICATION_JSON);
emitter.complete();
return;
}
}
Double zAxisPosition = motorXYZPositionGetCmdToDeviceResult.getJSONObject("result").getDouble("zAxisPosition");//当前z轴相对于原点的位置
if (zAxisPosition == null || zAxisPosition < 0.0) {
emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "获得电机XYZ相对原点坐标指令执行失败", motorXYZPositionGetCmdToDeviceResult), MediaType.APPLICATION_JSON);
@ -110,12 +119,15 @@ public class SyringePipelineWash implements CommandHandler {
return;
}
Boolean motorZPositionSetCmdToDeviceResultStatus = motorZPositionSetCmdToDeviceResult.getBool("result");
if (!motorZPositionSetCmdToDeviceResultStatus) {
Object motorZPositionSetCmdToDeviceResultStatus = motorZPositionSetCmdToDeviceResult.getObj("result");
if (motorZPositionSetCmdToDeviceResultStatus instanceof Boolean) {
if (!(Boolean) motorZPositionSetCmdToDeviceResultStatus) {
emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动z轴到指定位指令执行失败", motorZPositionSetCmdToDeviceResult), MediaType.APPLICATION_JSON);
emitter.complete();
return;
}
}
emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "移动z轴到指定位指令反馈", motorZPositionSetCmdToDeviceResult), MediaType.APPLICATION_JSON);
boolean finished = latch.await(5, TimeUnit.SECONDS);
if (!finished) {
@ -147,12 +159,16 @@ public class SyringePipelineWash implements CommandHandler {
emitter.complete();
return;
}
Boolean motorXYZPositionSetCmdToDeviceResultStatus = motorXPositionSetCmdToDeviceResult.getBool("result");
if (!motorXYZPositionSetCmdToDeviceResultStatus) {
Object motorXYZPositionSetCmdToDeviceResultStatus = motorXPositionSetCmdToDeviceResult.getObj("result");
if (motorXYZPositionSetCmdToDeviceResultStatus instanceof Boolean) {
if (!(Boolean) motorXYZPositionSetCmdToDeviceResultStatus) {
emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动x轴到指定位置指令执行失败", motorXPositionSetCmdToDeviceResult), MediaType.APPLICATION_JSON);
emitter.complete();
return;
}
}
emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "移动x轴到指定位置指令反馈", motorXPositionSetCmdToDeviceResult), MediaType.APPLICATION_JSON);
CMDToDevice motorYPositionSetCMDToDevice = DeviceCommandGenerator.motor_y_position_set(75.0);//移动y轴到指定位置 (TODO) 废液桶Y轴位置应当可以配置
CommandFuture motorYPositionSetCMDToDeviceFuture = new CommandFuture();
@ -174,12 +190,16 @@ public class SyringePipelineWash implements CommandHandler {
emitter.complete();
return;
}
Boolean motorYPositionSetCMDToDeviceResultStatus = motorYPositionSetCMDToDeviceResult.getBool("result");
if (!motorYPositionSetCMDToDeviceResultStatus) {
Object motorYPositionSetCMDToDeviceResultStatus = motorYPositionSetCMDToDeviceResult.getObj("result");
if (motorYPositionSetCMDToDeviceResultStatus instanceof Boolean) {
if (!(Boolean) motorYPositionSetCMDToDeviceResultStatus) {
emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动y轴到指定位置指令执行失败", motorYPositionSetCMDToDeviceResult), MediaType.APPLICATION_JSON);
emitter.complete();
return;
}
}
emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "移动y轴到指定位置指令反馈", motorYPositionSetCMDToDeviceResult), MediaType.APPLICATION_JSON);
boolean finished = latch.await(5, TimeUnit.SECONDS);
if (!finished) {
@ -211,12 +231,15 @@ public class SyringePipelineWash implements CommandHandler {
return;
}
Boolean motorZPositionSetDownCmdToDeviceResultStatus = motorZPositionSetDownCmdToDeviceResult.getBool("result");
if (!motorZPositionSetDownCmdToDeviceResultStatus) {
Object motorZPositionSetDownCmdToDeviceResultStatus = motorZPositionSetDownCmdToDeviceResult.getObj("result");
if (motorZPositionSetDownCmdToDeviceResultStatus instanceof Boolean) {
if (!(Boolean) 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;
}
}
emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "移动z轴到指定位指令反馈", motorZPositionSetDownCmdToDeviceResult), MediaType.APPLICATION_JSON);
finished = latch.await(5, TimeUnit.SECONDS);
if (!finished) {
@ -245,12 +268,16 @@ public class SyringePipelineWash implements CommandHandler {
emitter.complete();
return;
}
Boolean threeWayValveOpenSprayPipelineCMDToDeviceResultStatus = threeWayValveOpenSprayPipelineCMDToDeviceResult.getBool("result");
if (!threeWayValveOpenSprayPipelineCMDToDeviceResultStatus) {
Object threeWayValveOpenSprayPipelineCMDToDeviceResultStatus = threeWayValveOpenSprayPipelineCMDToDeviceResult.getObj("result");
if (threeWayValveOpenSprayPipelineCMDToDeviceResultStatus instanceof Boolean) {
if (!(Boolean) threeWayValveOpenSprayPipelineCMDToDeviceResultStatus) {
emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开三通阀注射器管路指令执行失败", threeWayValveOpenSprayPipelineCMDToDeviceResult), MediaType.APPLICATION_JSON);
emitter.complete();
return;
}
}
emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "打开三通阀注射器管路指令反馈", threeWayValveOpenSprayPipelineCMDToDeviceResult), MediaType.APPLICATION_JSON);
//6.设置注射泵速度，推注射泵
emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "设置注射泵速度，推注射泵"), MediaType.APPLICATION_JSON);
@ -274,12 +301,16 @@ public class SyringePipelineWash implements CommandHandler {
emitter.complete();
return;
}
Boolean syringePumpInjectionVolumeSetCMDToDeviceResultStatus = syringePumpInjectionVolumeSetCMDToDeviceResult.getBool("result");
if (!syringePumpInjectionVolumeSetCMDToDeviceResultStatus) {
Object syringePumpInjectionVolumeSetCMDToDeviceResultStatus = syringePumpInjectionVolumeSetCMDToDeviceResult.getObj("result");
if (syringePumpInjectionVolumeSetCMDToDeviceResultStatus instanceof Boolean) {
if (!(Boolean) syringePumpInjectionVolumeSetCMDToDeviceResultStatus) {
emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "推动移动注射泵指令执行失败", syringePumpInjectionVolumeSetCMDToDeviceResult), MediaType.APPLICATION_JSON);
emitter.complete();
return;
}
}
emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "推动移动注射泵指令反馈", syringePumpInjectionVolumeSetCMDToDeviceResult), MediaType.APPLICATION_JSON);
emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "指令执行完毕"), MediaType.APPLICATION_JSON);
emitter.complete();

16
src/main/java/com/qyft/ms/app/handler/impl/SyringePipelineWashStop.java
View File

@ -57,12 +57,16 @@ public class SyringePipelineWashStop implements CommandHandler {
emitter.complete();
return;
}
Boolean syringePumpStopCMDToDeviceResultStatus = syringePumpStopCMDToDeviceResult.getBool("result");
if (!syringePumpStopCMDToDeviceResultStatus) {
Object syringePumpStopCMDToDeviceResultStatus = syringePumpStopCMDToDeviceResult.getObj("result");
if (syringePumpStopCMDToDeviceResultStatus instanceof Boolean) {
if (!(Boolean) syringePumpStopCMDToDeviceResultStatus) {
emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "停止推动注射泵指令执行失败", syringePumpStopCMDToDeviceResult), MediaType.APPLICATION_JSON);
emitter.complete();
return;
}
}
emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "停止推动注射泵指令反馈", syringePumpStopCMDToDeviceResult), MediaType.APPLICATION_JSON);
//2.全部关闭三通阀
emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "全部关闭三通阀"), MediaType.APPLICATION_JSON);
@ -86,12 +90,16 @@ public class SyringePipelineWashStop implements CommandHandler {
emitter.complete();
return;
}
Boolean threeWayValveCloseAllCMDToDeviceResultStatus = threeWayValveCloseAllCMDToDeviceResult.getBool("result");
if (!threeWayValveCloseAllCMDToDeviceResultStatus) {
Object threeWayValveCloseAllCMDToDeviceResultStatus = threeWayValveCloseAllCMDToDeviceResult.getObj("result");
if (threeWayValveCloseAllCMDToDeviceResultStatus instanceof Boolean) {
if (!(Boolean) threeWayValveCloseAllCMDToDeviceResultStatus) {
emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "全部关闭三通阀指令执行失败", threeWayValveCloseAllCMDToDeviceResult), MediaType.APPLICATION_JSON);
emitter.complete();
return;
}
}
emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "全部关闭三通阀指令反馈", threeWayValveCloseAllCMDToDeviceResult), MediaType.APPLICATION_JSON);
emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "指令执行完毕"), MediaType.APPLICATION_JSON);
emitter.complete();

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