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