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@ -9,6 +9,7 @@ import com.qyft.ms.app.common.command.FrontCommandAck; |
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import com.qyft.ms.app.common.constant.CommandStatus; |
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import com.qyft.ms.app.common.generator.PathGenerator; |
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import com.qyft.ms.app.handler.CommandHandler; |
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import com.qyft.ms.app.handler.MatrixSprayState; |
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import com.qyft.ms.app.model.bo.CMDToDevice; |
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import com.qyft.ms.app.model.form.CMDFormV2; |
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import com.qyft.ms.device.client.TcpClient; |
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@ -16,7 +17,6 @@ import com.qyft.ms.device.handler.DeviceMessageHandler; |
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import lombok.RequiredArgsConstructor; |
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import lombok.extern.slf4j.Slf4j; |
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import org.springframework.http.MediaType; |
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import org.springframework.scheduling.annotation.Async; |
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import org.springframework.stereotype.Component; |
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import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter; |
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@ -34,7 +34,7 @@ import java.util.concurrent.TimeoutException; |
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@Slf4j |
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@Component |
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@RequiredArgsConstructor |
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@Async("asyncExecutor") |
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//@Async("asyncExecutor") |
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@CommandMapping("matrix_spray_start")//业务指令注解 |
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public class MatrixSprayStart implements CommandHandler { |
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@ -42,6 +42,8 @@ public class MatrixSprayStart implements CommandHandler { |
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private final DeviceMessageHandler deviceMessageHandler; |
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private final MatrixSprayState matrixSprayState; |
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/** |
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* { |
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* cmdName:'matrix_spray_start' |
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@ -62,10 +64,14 @@ public class MatrixSprayStart implements CommandHandler { |
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*/ |
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@Override |
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public void handle(CMDFormV2 cmdForm, ResponseBodyEmitter emitter) throws Exception { |
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log.info("申请中断喷涂线程:{}", matrixSprayState.cancelTask()); |
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matrixSprayState.startTask(() -> { |
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try { |
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String frontCmdId = cmdForm.getCmdId(); |
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String frontCmdName = cmdForm.getCmdName(); |
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Map<String, Object> param = cmdForm.getParam(); |
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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 |
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// 1. 参数校验 |
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String matrixPathType = Optional.ofNullable(param.get("matrixPathType")) |
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.map(Object::toString) |
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@ -131,7 +137,7 @@ public class MatrixSprayStart implements CommandHandler { |
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deviceMessageHandler.setLatch(latch); |
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// z轴回原点 |
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if (originZ(emitter, frontCmdId, frontCmdName)) return; |
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boolean finished = latch.await(5 * 60 , TimeUnit.SECONDS); |
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boolean finished = latch.await(5 * 60, TimeUnit.SECONDS); |
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if (!finished) { |
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emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "等待指令执行完成超时"), MediaType.APPLICATION_JSON); |
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emitter.complete(); |
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@ -143,7 +149,7 @@ public class MatrixSprayStart implements CommandHandler { |
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if (originX(emitter, frontCmdId, frontCmdName)) return; |
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// y轴回原点 |
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if (originY(emitter, frontCmdId, frontCmdName)) return; |
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finished = latch.await(5 * 60 , TimeUnit.SECONDS); |
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finished = latch.await(5 * 60, TimeUnit.SECONDS); |
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if (!finished) { |
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emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "等待指令执行完成超时"), MediaType.APPLICATION_JSON); |
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emitter.complete(); |
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@ -163,7 +169,7 @@ public class MatrixSprayStart implements CommandHandler { |
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latch = new CountDownLatch(1); |
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deviceMessageHandler.setLatch(latch); |
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if (moveZ(emitter, height, frontCmdId, frontCmdName)) return; |
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finished = latch.await(5 * 60 , TimeUnit.SECONDS); |
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finished = latch.await(5 * 60, TimeUnit.SECONDS); |
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if (!finished) { |
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emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "等待指令执行完成超时"), MediaType.APPLICATION_JSON); |
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emitter.complete(); |
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@ -202,16 +208,16 @@ public class MatrixSprayStart implements CommandHandler { |
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//移动xy到slide(玻片)的位置 |
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latch = new CountDownLatch(2); |
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deviceMessageHandler.setLatch(latch); |
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emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "xy移动到玻片位置",slide), MediaType.APPLICATION_JSON); |
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emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "xy移动到玻片位置", slide), MediaType.APPLICATION_JSON); |
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if (moveX(emitter, slide[0], frontCmdId, frontCmdName)) return; |
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if (moveY(emitter, slide[1], frontCmdId, frontCmdName)) return; |
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finished = latch.await(5 * 60 , TimeUnit.SECONDS); |
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finished = latch.await(5 * 60, TimeUnit.SECONDS); |
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if (!finished) { |
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emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "等待指令执行完成超时"), MediaType.APPLICATION_JSON); |
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emitter.complete(); |
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return; |
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} |
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emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "开始按照路径喷涂",slide), MediaType.APPLICATION_JSON); |
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emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "开始按照路径喷涂", slide), MediaType.APPLICATION_JSON); |
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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 |
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for (int i = 0; i < times; i++) { |
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double topReal = top; |
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@ -226,14 +232,15 @@ public class MatrixSprayStart implements CommandHandler { |
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spacing, |
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PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN |
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); |
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if (pathSpray(emitter, frontCmdId, frontCmdName, volume, pathList, movingSpeed)) return;//路径喷涂 |
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if (pathSpray(emitter, frontCmdId, frontCmdName, volume, pathList, movingSpeed)) |
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return;//路径喷涂 |
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if (i + 1 != times) { //如果不是最后一次,执行完毕后回到玻片原点 |
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log.info("123"); |
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latch = new CountDownLatch(2); |
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deviceMessageHandler.setLatch(latch); |
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if (moveX(emitter, slide[0], frontCmdId, frontCmdName)) return; |
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if (moveY(emitter, slide[1], frontCmdId, frontCmdName)) return; |
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finished = latch.await(5 * 60 , TimeUnit.SECONDS); |
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finished = latch.await(5 * 60, TimeUnit.SECONDS); |
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if (!finished) { |
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emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "等待指令执行完成超时"), MediaType.APPLICATION_JSON); |
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emitter.complete(); |
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@ -255,14 +262,15 @@ public class MatrixSprayStart implements CommandHandler { |
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spacing, |
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PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT |
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); |
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if (pathSpray(emitter, frontCmdId, frontCmdName, volume, pathList, movingSpeed)) return;//路径喷涂 |
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if (pathSpray(emitter, frontCmdId, frontCmdName, volume, pathList, movingSpeed)) |
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return;//路径喷涂 |
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if (i + 1 != times) { //如果不是最后一次,执行完毕后回到玻片原点 |
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log.info("123"); |
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latch = new CountDownLatch(2); |
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deviceMessageHandler.setLatch(latch); |
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if (moveX(emitter, slide[0], frontCmdId, frontCmdName)) return; |
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if (moveY(emitter, slide[1], frontCmdId, frontCmdName)) return; |
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finished = latch.await(5 * 60 , TimeUnit.SECONDS); |
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finished = latch.await(5 * 60, TimeUnit.SECONDS); |
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if (!finished) { |
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emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "等待指令执行完成超时"), MediaType.APPLICATION_JSON); |
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emitter.complete(); |
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@ -288,20 +296,22 @@ public class MatrixSprayStart implements CommandHandler { |
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spacing, |
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PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT |
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); |
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if (pathSpray(emitter, frontCmdId, frontCmdName, volume, pathList, movingSpeed)) return;//路径喷涂 |
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if (pathSpray(emitter, frontCmdId, frontCmdName, volume, pathList, movingSpeed)) |
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return;//路径喷涂 |
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pathList = PathGenerator.generatePathPoints( |
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leftReal, rightReal, topReal, bottomReal, |
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spacing, |
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PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN |
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); |
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if (pathSpray(emitter, frontCmdId, frontCmdName, volume, pathList, movingSpeed)) return;//路径喷涂 |
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if (pathSpray(emitter, frontCmdId, frontCmdName, volume, pathList, movingSpeed)) |
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return;//路径喷涂 |
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if (i + 1 != times) { //如果不是最后一次,执行完毕后回到玻片原点 |
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log.info("123"); |
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latch = new CountDownLatch(2); |
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deviceMessageHandler.setLatch(latch); |
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if (moveX(emitter, slide[0], frontCmdId, frontCmdName)) return; |
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if (moveY(emitter, slide[1], frontCmdId, frontCmdName)) return; |
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finished = latch.await(5 * 60 , TimeUnit.SECONDS); |
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finished = latch.await(5 * 60, TimeUnit.SECONDS); |
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if (!finished) { |
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emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "等待指令执行完成超时"), MediaType.APPLICATION_JSON); |
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emitter.complete(); |
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@ -318,7 +328,7 @@ public class MatrixSprayStart implements CommandHandler { |
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deviceMessageHandler.setLatch(latch); |
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// z轴回原点 |
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if (originZ(emitter, frontCmdId, frontCmdName)) return; |
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finished = latch.await(5 * 60 , TimeUnit.SECONDS); |
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finished = latch.await(5 * 60, TimeUnit.SECONDS); |
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if (!finished) { |
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emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "等待指令执行完成超时"), MediaType.APPLICATION_JSON); |
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emitter.complete(); |
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@ -331,7 +341,7 @@ public class MatrixSprayStart implements CommandHandler { |
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// y轴回原点 |
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if (originY(emitter, frontCmdId, frontCmdName)) return; |
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finished = latch.await(5 * 60 , TimeUnit.SECONDS); |
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finished = latch.await(5 * 60, TimeUnit.SECONDS); |
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if (!finished) { |
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emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "等待指令执行完成超时"), MediaType.APPLICATION_JSON); |
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emitter.complete(); |
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@ -340,8 +350,15 @@ public class MatrixSprayStart implements CommandHandler { |
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//12.结束日志 |
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//TODO写日志 |
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emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "指令执行完毕"), MediaType.APPLICATION_JSON); |
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} catch (Exception e) { |
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Thread.currentThread().interrupt(); |
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log.info("喷涂线程已停止"); |
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System.out.println("任务中断"); |
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} finally { |
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emitter.complete(); |
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} |
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}); |
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} |
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private boolean motorSpeedSet(ResponseBodyEmitter emitter, Double movingSpeed, String frontCmdId, String frontCmdName) throws IOException { |
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@ -488,7 +505,7 @@ public class MatrixSprayStart implements CommandHandler { |
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//移动x与y到点位 |
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if (moveX(emitter, p.getX(), frontCmdId, frontCmdName)) return true; |
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if (moveY(emitter, 75.5 - p.getY(), frontCmdId, frontCmdName)) return true; |
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boolean finished = latch.await(5 * 60 , TimeUnit.SECONDS); |
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boolean finished = latch.await(5 * 60, TimeUnit.SECONDS); |
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if (!finished) { |
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emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "等待指令执行完成超时"), MediaType.APPLICATION_JSON); |
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emitter.complete(); |
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