package com.qyft.ms.app.service; import cn.hutool.json.JSONUtil; import com.alibaba.fastjson.JSON; import com.qyft.ms.app.common.constant.WebSocketMessageType; import com.qyft.ms.app.common.generator.PathGenerator; import com.qyft.ms.app.common.result.CMDResultCode; import com.qyft.ms.app.model.entity.OperationLog; import com.qyft.ms.app.model.entity.SysSettings; import com.qyft.ms.app.model.form.CMDForm; import com.qyft.ms.app.model.vo.ExecutionResult; import com.qyft.ms.device.controller.DeviceController; import com.qyft.ms.device.model.bo.DeviceStatus; import com.qyft.ms.device.service.DeviceStatusService; import com.qyft.ms.device.service.DeviceTcpCMDService; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; import org.springframework.stereotype.Service; import java.util.*; import java.util.List; import java.util.function.Supplier; import static com.qyft.ms.app.common.generator.PathGenerator.generatePathPoints; @Slf4j @RequiredArgsConstructor @Service public class CMDService { private final WebSocketService webSocketService; private final DeviceTcpCMDService deviceTcpCMDService; private final OperationLogService operationLogService; private final MatrixCraftService matrixCraftService; private final ISysSettingsService sysSettingsService; private final DeviceStatusService deviceStatusService; private volatile boolean running = true; private void initExecutorThread(List> cmdList, CMDForm form) { new Thread(() -> run(cmdList, form)).start(); } // 电机移动 public boolean moveMotorToPosition(CMDForm form) { Map params = form.getParams(); if (params == null || !params.containsKey("axis") || !params.containsKey("position")) { return false; } List> cmdList = new ArrayList<>(); String axis = (String) params.get("axis"); double position = Optional.ofNullable(params.get("position")) .filter(Number.class::isInstance) .map(Number.class::cast) .map(Number::doubleValue) .orElse(0.0); cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition(axis, position)); initExecutorThread(cmdList, form); return true; }; // 切换清洗管路/喷涂管路 public boolean switchThreeWayValve(CMDForm form) { Map params = form.getParams(); if (params == null || !params.containsKey("type")) { return false; } List> cmdList = new ArrayList<>(); String type = (String) params.get("type"); if (type.equals("clean")) { cmdList.add(deviceTcpCMDService::switchThreeWayValveToSubstrate); } else if (type.equals("spray")) { cmdList.add(deviceTcpCMDService::switchThreeWayValveToSpray); }else { return false; } initExecutorThread(cmdList, form); return true; } // 除湿阀、清洗阀、喷嘴阀控制方法 public boolean controlValve(CMDForm form) { Map params = form.getParams(); if (params == null || !params.containsKey("valveType") || !params.containsKey("isOpen")) { return false; } List> cmdList = new ArrayList<>(); if(params.get("valveType") !=null && params.get("isOpen") !=null) { String valveType = (String) params.get("valveType"); boolean isOpen = (boolean) params.get("isOpen"); cmdList.add(() -> deviceTcpCMDService.controlValve(valveType,isOpen)); } initExecutorThread(cmdList, form); return true; } // 以指定电压值开启高压电 public boolean turnOnHighVoltage(CMDForm form) { Map params = form.getParams(); if (params == null || !params.containsKey("voltage")) { return false; } List> cmdList = new ArrayList<>(); int voltage = (int) params.get("voltage"); if(voltage> 5000) { return false; } cmdList.add(() -> deviceTcpCMDService.turnOnHighVoltage(voltage)); initExecutorThread(cmdList, form); return true; } // 关闭高压电 public boolean turnOffHighVoltage(CMDForm form) { List> cmdList = new ArrayList<>(); cmdList.add(deviceTcpCMDService::turnOffHighVoltage); initExecutorThread(cmdList, form); return true; } // 以指定转速开启注射泵 public boolean turnOnSyringePump(CMDForm form) { Map params = form.getParams(); if (params == null || !params.containsKey("rotationSpeed")) { return false; } List> cmdList = new ArrayList<>(); double rotationSpeed = Optional.ofNullable(params.get("rotationSpeed")) .filter(Number.class::isInstance) .map(Number.class::cast) .map(Number::doubleValue) .orElse(0.0); cmdList.add(() -> deviceTcpCMDService.turnOnSyringePump(rotationSpeed)); initExecutorThread(cmdList, form); return true; } // 停止注射泵 public boolean turnOffSyringePump(CMDForm form) { Map params = form.getParams(); if (params == null) { return false; } List> cmdList = new ArrayList<>(); cmdList.add(deviceTcpCMDService::turnOffSyringePump); initExecutorThread(cmdList, form); return true; } // 设置指定轴的电机运行时电流 public boolean setMotorRunningCurrent(CMDForm form) { Map params = form.getParams(); if (params == null || !params.containsKey("axis") || !params.containsKey("current")) { return false; } List> cmdList = new ArrayList<>(); String axis = (String) params.get("axis"); double current = Optional.ofNullable(params.get("current")) .filter(Number.class::isInstance) .map(Number.class::cast) .map(Number::doubleValue) .orElse(0.0); cmdList.add(() -> deviceTcpCMDService.setMotorRunningCurrent(axis, current)); initExecutorThread(cmdList, form); return true; } // 开始喷涂 public String startWork(CMDForm form) { Map params = form.getParams(); if ( params == null || !params.containsKey("position") || !params.containsKey("space") || !params.containsKey("routeType") || !params.containsKey("movementSpeed") || !params.containsKey("height") || !params.containsKey("matrixFlowVelocity") ) { return "参数错误"; } if ( operationLogService.getIng() != null) { return "当前有正在运行的任务"; } List> cmdList = new ArrayList<>(); // 托盘位置 List slidePositionList = sysSettingsService.getSlidePositionList(); List> position = (List>) params.get("position"); if (position == null) { return "position参数错误"; } // 设置指定轴的电机的运行速度 int movementSpeed = (Integer) params.get("movementSpeed"); cmdList.add(() -> deviceTcpCMDService.setMotorSpeed("x", movementSpeed)); cmdList.add(() -> deviceTcpCMDService.setMotorSpeed("y", movementSpeed)); cmdList.add(() -> deviceTcpCMDService.setMotorSpeed("z", 10)); // 回到原点 cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("Z", 5)); cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("X", 5)); cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("Y", 5)); cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("Z")); cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("X")); cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("Y")); for (int i = 0; i < position.size(); i++) { Map p = position.get(i); if (p.get("x1") == null || p.get("y1") == null || p.get("x2") == null || p.get("y2") == null || p.get("index") == null) { return "position参数错误"; } // 玻片的位置 String p1 = slidePositionList.get(p.get("index")).getValue(); String[] p1s = p1.split(","); double x = Double.parseDouble(p1s[0]); double y = Double.parseDouble(p1s[1]); double z = Double.parseDouble(p1s[2]); // 玻片范围的实际位置 // 托盘点位 x y z double left =x+ p.get("x1"); double right = x+ p.get("x2"); double top = y+ p.get("y1"); double bottom = y+ p.get("y2"); int space = (Integer) params.get("space"); int routeType = (Integer) params.get("routeType"); List horizontalPath = generatePathPoints( left, right, top, bottom, space, routeType == 1 ? PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN : PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT ); log.info("horizontalPath:{}", horizontalPath); if(horizontalPath.isEmpty()) { return "路径规划失败"; } // 将三通阀转至喷涂管路 cmdList.add(() -> deviceTcpCMDService.switchThreeWayValve("clear_spray")); // 移动到指定高度(位置) int height = (Integer) params.get("height"); if(z - height < 15) { return "高度设置太低,有撞针的风险"; } cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("Z",z - height )); cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("X", left)); cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("Y", top)); // 是否加电 电压 Object voltage = params.get("voltage"); if (voltage instanceof Integer) { cmdList.add(() -> deviceTcpCMDService.turnOnHighVoltage( (Integer) voltage)); } // 开启喷嘴阀 cmdList.add(() -> deviceTcpCMDService.controlValve("Nozzle", true)); // 推注射泵 int matrixFlowVelocity = (int) params.get("matrixFlowVelocity"); cmdList.add(() -> deviceTcpCMDService.turnOnSyringePump(matrixFlowVelocity)); // 插入日志 if(i == 0) { cmdList.add( () -> { OperationLog operationLog = new OperationLog(); operationLog.setStatus(0); operationLog.setMatrixId((Long) params.get("matrixCraftId")); operationLog.setMatrixInfo(JSON.toJSONString(params)); operationLogService.add(operationLog); return true; }); cmdList.add(() -> { sysSettingsService.updateWorkStatus("spraying"); return true; }); } // 执行轨迹 for (PathGenerator.Points point : horizontalPath) { double nextX = (int) point.getX(); double nextY = (int) point.getY(); log.info("当前喷针位置x:{}, y:{}", nextX, nextY ); cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("X", nextX)); cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("Y", nextY)); } // 停止喷涂 cmdList.add(deviceTcpCMDService::syringePumpStop); // 关闭喷嘴阀 cmdList.add(() -> deviceTcpCMDService.controlValve("Nozzle", true)); } // 关闭高压 cmdList.add(deviceTcpCMDService::turnOffHighVoltage); // 回到原点 cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("X")); cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("Y")); cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("Z")); // 结束日志 cmdList.add( () -> { OperationLog operationLog = operationLogService.getIng(); operationLog.setStatus(1); operationLogService.updateById(operationLog); return true; }); cmdList.add(() -> { sysSettingsService.updateWorkStatus("idle"); Map result = new HashMap<>(); result.put("code", "spray_complete"); result.put("msg", "喷涂任务已完成"); webSocketService.pushMsg(WebSocketMessageType.WARN, result); return true; }); new Thread(() -> { running = true; ExecutionResult executionResult = new ExecutionResult(); executionResult.setCommandId(form.getCommandId()); executionResult.setCommandName(form.getCommandName()); // 执行所有命令 for (Supplier command : cmdList) { boolean result = command.get(); if(!running) { log.error("指令线程停止: {}", JSONUtil.toJsonStr(form)); executionResult.setStatus(CMDResultCode.FAILURE.getCode()); executionResult.setMessage(CMDResultCode.FAILURE.getMsg()); webSocketService.pushMsg(WebSocketMessageType.CMD, executionResult); return; } // try { // Thread.sleep(5000); // } catch (InterruptedException e) { // throw new RuntimeException(e); // } if (!result) { log.error("指令执行异常: {}", JSONUtil.toJsonStr(form)); executionResult.setStatus(CMDResultCode.FAILURE.getCode()); executionResult.setMessage(CMDResultCode.FAILURE.getMsg()); webSocketService.pushMsg(WebSocketMessageType.CMD, executionResult); return; } } log.info("指令执行成功: {}", JSONUtil.toJsonStr(form)); executionResult.setStatus(CMDResultCode.SUCCESS.getCode()); executionResult.setMessage(CMDResultCode.SUCCESS.getMsg()); webSocketService.pushMsg(WebSocketMessageType.CMD, executionResult); }).start(); return "ok"; } // 结束喷涂 public boolean stopWork(CMDForm form) { List> cmdList = new ArrayList<>(); cmdList.add(() -> { running = false; return true; }); // 停止喷涂 cmdList.add(deviceTcpCMDService::turnOffSyringePump); // 关闭高压 cmdList.add(deviceTcpCMDService::turnOffHighVoltage); // 关闭喷嘴阀 cmdList.add(() -> deviceTcpCMDService.controlValve("Nozzle", true)); // 回到原点 cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("X")); cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("Z")); // 结束日志 cmdList.add( () -> { OperationLog operationLog = operationLogService.getIng(); operationLog.setStatus(1); operationLogService.updateById(operationLog); return true; }); cmdList.add(() -> { sysSettingsService.updateWorkStatus("idle"); return true; }); initExecutorThread(cmdList, form); return true; } // 测试轴转动 public boolean rotate(CMDForm form) { Map params = form.getParams(); List> cmdList = new ArrayList<>(); String axis = (String) params.get("axis"); double rotationSpeed = Optional.ofNullable(params.get("rotationSpeed")) .filter(Number.class::isInstance) .map(Number.class::cast) .map(Number::doubleValue) .orElse(0.0); int time = (Integer) params.get("time"); cmdList.add(() -> deviceTcpCMDService.rotateMotor(axis, rotationSpeed, time)); initExecutorThread(cmdList, form); return true; } // 轴停止转动 public boolean stopMotor(CMDForm form) { Map params = form.getParams(); List> cmdList = new ArrayList<>(); String axis = (String) params.get("axis"); cmdList.add(() -> deviceTcpCMDService.stopMotor(axis)); initExecutorThread(cmdList, form); return true; } // 开始清洗 public boolean startWash(CMDForm form) { List> cmdList = new ArrayList<>(); Map params = form.getParams(); String type = (String) params.get("type"); // type: "injector" | "nozzle" if(Objects.equals(type, "injector")) { cmdList.add(() -> deviceTcpCMDService.switchThreeWayValve("clear_spray")); cmdList.add(() -> deviceTcpCMDService.controlValve("Cleaning", true)); } else if (Objects.equals(type, "nozzle")) { cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("X", 173.08)); cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("Y", 75.2)); cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("Z", 70)); cmdList.add(() -> deviceTcpCMDService.switchThreeWayValve("clear_nozzle")); cmdList.add(() -> deviceTcpCMDService.controlValve("Nozzle", true)); } cmdList.add(() -> { sysSettingsService.updateWorkStatus("washing"); return true; }); initExecutorThread(cmdList, form); return true; } // 结束清洗 public boolean stopWash(CMDForm form) { List> cmdList = new ArrayList<>(); cmdList.add(() -> deviceTcpCMDService.switchThreeWayValve("close_all")); cmdList.add(() -> deviceTcpCMDService.controlValve("Cleaning", false)); cmdList.add(() -> deviceTcpCMDService.controlValve("Nozzle", false)); cmdList.add(() -> { sysSettingsService.updateWorkStatus("idle"); return true; }); initExecutorThread(cmdList, form); return true; } // 照明灯板控制方法 /** * 以指定亮度开启照明灯板 * brightness 亮度值，范围 0 - 100 * @return 操作是否成功 */ public boolean turnOnLightPanel(CMDForm form) { Map params = form.getParams(); List> cmdList = new ArrayList<>(); int brightness = (int) params.get("brightness"); cmdList.add(() -> deviceTcpCMDService.turnOnLightPanel(brightness)); initExecutorThread(cmdList, form); return true; } /** * 关闭照明灯板 * @return 操作是否成功 */ public boolean turnOffLightPanel(CMDForm form) { List> cmdList = new ArrayList<>(); cmdList.add(deviceTcpCMDService::turnOffLightPanel); initExecutorThread(cmdList, form); return true; } // 开始预充 public boolean startPrefill(CMDForm form) { List> cmdList = new ArrayList<>(); Map params = form.getParams(); cmdList.add(() -> deviceTcpCMDService.switchThreeWayValve("clear_spray")); cmdList.add(() -> deviceTcpCMDService.controlValve("Nozzle", true)); cmdList.add(() -> deviceTcpCMDService.turnOnSyringePump((Double) params.get("rotationSpeed"))); cmdList.add(() -> { sysSettingsService.updateWorkStatus("prefilling"); return true; }); initExecutorThread(cmdList, form); return true; } // 停止预充 public boolean stopPrefill(CMDForm form) { List> cmdList = new ArrayList<>(); cmdList.add(deviceTcpCMDService::turnOffSyringePump); cmdList.add(() -> deviceTcpCMDService.controlValve("Nozzle", false)); cmdList.add(() -> { sysSettingsService.updateWorkStatus("idle"); return true; }); initExecutorThread(cmdList, form); return true; } // 电机回到原点 public boolean motorMoveToHome(CMDForm form) { List> cmdList = new ArrayList<>(); Map params = form.getParams(); String axis = (String) params.get("axis"); cmdList.add(() -> deviceTcpCMDService.motorMoveToHome(axis)); initExecutorThread(cmdList, form); return true; } // 开始除湿 public boolean startDehumidify(CMDForm form) { List> cmdList = new ArrayList<>(); Map params = form.getParams(); cmdList.add(() -> { sysSettingsService.updateWorkStatus("dehumidifying"); return true; }); double humidity = Optional.ofNullable(params.get("humidity")) .filter(Number.class::isInstance) .map(Number.class::cast) .map(Number::doubleValue) .orElse(0.0); cmdList.add(() -> deviceTcpCMDService.startDehumidify(humidity)); cmdList.add(() -> { sysSettingsService.updateTargetHumidity(humidity); while (true) { double targetHumidity = sysSettingsService.getTargetHumidity(); DeviceStatus deviceStatus = deviceStatusService.getDeviceStatus(); if (deviceStatus.getHumidity()<=targetHumidity ) { deviceTcpCMDService.controlValve("Dehumidification", false); sysSettingsService.updateWorkStatus("idle"); Map result = new HashMap<>(); result.put("code", "dehumidify_complete"); result.put("msg", "已达到目标湿度"); webSocketService.pushMsg(WebSocketMessageType.WARN, result); break; } } return true; }); initExecutorThread(cmdList, form); return true; } // 结束除湿 public boolean stopDehumidify(CMDForm form) { List> cmdList = new ArrayList<>(); cmdList.add(() -> deviceTcpCMDService.controlValve("Dehumidification", false)); cmdList.add(() -> { sysSettingsService.updateWorkStatus("idle"); return true; }); initExecutorThread(cmdList, form); return true; } // 设置电机速度 public boolean setMotorSpeed(CMDForm form) { List> cmdList = new ArrayList<>(); Map params = form.getParams(); String axis = (String) params.get("axis"); double speed = Optional.ofNullable(params.get("speed")) .filter(Number.class::isInstance) .map(Number.class::cast) .map(Number::doubleValue) .orElse(0.0); cmdList.add(() -> deviceTcpCMDService.setMotorSpeed(axis, speed)); initExecutorThread(cmdList, form); return true; } public boolean trayOut(CMDForm form) { List> cmdList = new ArrayList<>(); cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("Y", 150)); initExecutorThread(cmdList, form); return true; } public boolean trayIn(CMDForm form) { List> cmdList = new ArrayList<>(); cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("Y", 0)); initExecutorThread(cmdList, form); return true; } public void run(List> cmdList, CMDForm form) { ExecutionResult executionResult = new ExecutionResult(); executionResult.setCommandId(form.getCommandId()); executionResult.setCommandName(form.getCommandName()); // 执行所有命令 for (Supplier command : cmdList) { boolean result = command.get(); // try { // Thread.sleep(5000); // } catch (InterruptedException e) { // throw new RuntimeException(e); // } if (!result) { log.error("指令执行异常: {}", JSONUtil.toJsonStr(form)); executionResult.setStatus(CMDResultCode.FAILURE.getCode()); executionResult.setMessage(CMDResultCode.FAILURE.getMsg()); webSocketService.pushMsg(WebSocketMessageType.CMD, executionResult); return; } } log.info("指令执行成功: {}", JSONUtil.toJsonStr(form)); executionResult.setStatus(CMDResultCode.SUCCESS.getCode()); executionResult.setMessage(CMDResultCode.SUCCESS.getMsg()); webSocketService.pushMsg(WebSocketMessageType.CMD, executionResult); } }