GuoAnPeng
/
matrix-spray
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

feat:完善业务指令

master
白凤吉 5 months ago
parent
46cb2b1a80
commit
c9f5abac71
1 changed files with 24 additions and 23 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 47
      src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayStart.java

47
src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayStart.java
View File

@ -131,7 +131,7 @@ public class MatrixSprayStart implements CommandHandler {
deviceMessageHandler.setLatch(latch);
// z轴回原点
if (originZ(emitter, frontCmdId, frontCmdName)) return;
boolean finished = latch.await(10, TimeUnit.SECONDS);
boolean finished = latch.await(5 * 60 , 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();
@ -141,10 +141,9 @@ public class MatrixSprayStart implements CommandHandler {
deviceMessageHandler.setLatch(latch);
// x轴回原点
if (originX(emitter, frontCmdId, frontCmdName)) return;
// y轴回原点
if (originY(emitter, frontCmdId, frontCmdName)) return;
finished = latch.await(10, TimeUnit.SECONDS);
finished = latch.await(5 * 60 , 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();
@ -168,7 +167,7 @@ public class MatrixSprayStart implements CommandHandler {
latch = new CountDownLatch(1);
deviceMessageHandler.setLatch(latch);
if (moveZ(emitter, height, frontCmdId, frontCmdName)) return;
finished = latch.await(10, TimeUnit.SECONDS);
finished = latch.await(5 * 60 , 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();
@ -207,14 +206,16 @@ public class MatrixSprayStart implements CommandHandler {
//移动xy到slide（玻片）的位置
latch = new CountDownLatch(2);
deviceMessageHandler.setLatch(latch);
emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "xy移动到玻片位置",slide), MediaType.APPLICATION_JSON);
if (moveX(emitter, slide[0], frontCmdId, frontCmdName)) return;
if (moveY(emitter, slide[1], frontCmdId, frontCmdName)) return;
finished = latch.await(10, TimeUnit.SECONDS);
finished = latch.await(5 * 60 , 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;
}
emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "开始按照路径喷涂",slide), MediaType.APPLICATION_JSON);
if ("horizontal".equals(matrixPathType)) { //生成路径（从“左上角”往下的水平之字形） String matrixPathType = (String) param.get("matrix_path_type");//喷涂路径类型 horizontal | vertical | grid
for (int i = 0; i < times; i++) {
double topReal = top;
@ -236,7 +237,7 @@ public class MatrixSprayStart implements CommandHandler {
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);
finished = latch.await(5 * 60 , 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();
@ -265,7 +266,7 @@ public class MatrixSprayStart implements CommandHandler {
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);
finished = latch.await(5 * 60 , 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();
@ -297,31 +298,31 @@ 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;
// }
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(5 * 60 , 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);
deviceMessageHandler.setLatch(latch);
// z轴回原点
if (originZ(emitter, frontCmdId, frontCmdName)) return;
finished = latch.await(10, TimeUnit.SECONDS);
finished = latch.await(5 * 60 , 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();
@ -334,14 +335,14 @@ public class MatrixSprayStart implements CommandHandler {
// y轴回原点
if (originY(emitter, frontCmdId, frontCmdName)) return;
finished = latch.await(10, TimeUnit.SECONDS);
finished = latch.await(5 * 60 , 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;
}
//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();
}
@ -491,7 +492,7 @@ public class MatrixSprayStart implements CommandHandler {
//移动x与y到点位
if (moveX(emitter, p.getX(), frontCmdId, frontCmdName)) return true;
if (moveY(emitter, 75.5 - p.getY(), frontCmdId, frontCmdName)) return true;
boolean finished = latch.await(10, TimeUnit.SECONDS);
boolean finished = latch.await(5 * 60 , 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();

Write Preview
Loading…
Cancel
Save