matrix-spray/src/main/java/com/qyft/ms/app/service/CMDService.java

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.form.CMDForm;
import com.qyft.ms.app.model.vo.ExecutionResult;
import com.qyft.ms.device.service.DeviceTcpCMDService;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Service;

import java.awt.*;
import java.util.*;
import java.util.List;
import java.util.function.Function;
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 void initExecutorThread(List<Supplier<Boolean>> cmdList, CMDForm form) {
        new Thread(() -> run(cmdList, form)).start();
    }

// 电机移动
    public boolean moveMotorToPosition(CMDForm form) {
        Map<String, Object> params = form.getParams();
        List<Supplier<Boolean>> 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<String, Object> params = form.getParams();
        List<Supplier<Boolean>> 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);
        }
        initExecutorThread(cmdList, form);
        return true;
    }

    // 除湿阀、清洗阀、喷嘴阀控制方法
    public boolean controlValve(CMDForm form) {
        Map<String, Object> params = form.getParams();
        List<Supplier<Boolean>> 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<String, Object> params = form.getParams();
        List<Supplier<Boolean>> cmdList = new ArrayList<>();
        double voltage = Optional.ofNullable(params.get("voltage"))
                .filter(Number.class::isInstance)
                .map(Number.class::cast)
                .map(Number::doubleValue)
                .orElse(0.0);
            cmdList.add(() -> deviceTcpCMDService.turnOnHighVoltage(voltage));
        initExecutorThread(cmdList, form);
        return true;
    }

    // 关闭高压电
    public boolean turnOffHighVoltage(CMDForm form) {
        Map<String, Object> params = form.getParams();
        List<Supplier<Boolean>> cmdList = new ArrayList<>();
        cmdList.add(deviceTcpCMDService::turnOffHighVoltage);
        initExecutorThread(cmdList, form);
        return true;
    }

    // 以指定转速、方向和时间开启注射泵
    public boolean turnOnSyringePump(CMDForm form) {
        Map<String, Object> params = form.getParams();
        List<Supplier<Boolean>> cmdList = new ArrayList<>();
        double rotationSpeed = Optional.ofNullable(params.get("rotationSpeed"))
                .filter(Number.class::isInstance)
                .map(Number.class::cast)
                .map(Number::doubleValue)
                .orElse(0.0);
        double time = Optional.ofNullable(params.get("time"))
                .filter(Number.class::isInstance)
                .map(Number.class::cast)
                .map(Number::doubleValue)
                .orElse(0.0);
        String direction = (String) params.get("direction");
        cmdList.add(() -> deviceTcpCMDService.turnOnSyringePump(rotationSpeed, direction, time));
        initExecutorThread(cmdList, form);
        return true;
    }

    // 停止注射泵
    public boolean turnOffSyringePump(CMDForm form) {
        Map<String, Object> params = form.getParams();
        List<Supplier<Boolean>> 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<String, Object> params = form.getParams();
        List<Supplier<Boolean>> 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 boolean startWork(CMDForm form) {
        Map<String, Object> params = form.getParams();
        List<Supplier<Boolean>> cmdList = new ArrayList<>();
        // 托盘位置
        Map<String, Integer> trayPosition = new HashMap<>();
        trayPosition.put("x", 0);
        trayPosition.put("y", 0);
        trayPosition.put("z", 0);
        int space = (Integer) params.get("space");
        List<Map<String, Integer>> position = (List<Map<String, Integer>>) params.get("position");
        Map<String, Integer> p1 = position.get(0);
        Map<String, Integer> p2 = position.get(1);
        // 托盘点位 x y z
        int left = trayPosition.get("x")+ p1.get("x");
        int right = trayPosition.get("x") + p2.get("x");
        int top = trayPosition.get("y") + p2.get("y");
        int bottom = trayPosition.get("y") + p1.get("y");
        // 获取轨迹list
        int direction = (Integer) params.get("direction");
        List<Point> horizontalPath = generatePathPoints(
                left, right, bottom, top, space, direction == 1 ? PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN : PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT
        );

        // 将三通阀转至喷涂管路
        cmdList.add(deviceTcpCMDService::switchThreeWayValveToSpray);
        // 设置指定轴的电机的运行速度
        int setMotorSpeed = (Integer) params.get("setMotorSpeed");
        cmdList.add(() -> deviceTcpCMDService.setMotorSpeed("x", setMotorSpeed));
        cmdList.add(() -> deviceTcpCMDService.setMotorSpeed("y", setMotorSpeed));
        cmdList.add(() -> deviceTcpCMDService.setMotorSpeed("z", setMotorSpeed));
        // 移动到指定高度(位置)
        int height  = (Integer) params.get("height");
        cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("z",trayPosition.get("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
        cmdList.add(() -> deviceTcpCMDService.turnOnSyringePump(100, "right", 5000));

        // 插入日志
        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;
        });
        // 执行轨迹
        double curX = left;
        double curY = top;
        for (Point point : horizontalPath) {
            double nextX = (int) point.getX();
            double nextY = (int) point.getY();
            double distanceX = nextX - curX;
            double distanceY = nextY - curY;
            cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("x", distanceX));
            cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("y", distanceY));
            curX = nextX;
            curY = nextY;
        }
        // 停止喷涂
        cmdList.add(deviceTcpCMDService::turnOffSyringePump);
        // 关闭喷嘴阀
        cmdList.add(() -> deviceTcpCMDService.controlValve("Nozzle", true));
        // 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;
        });
        initExecutorThread(cmdList, form);
        return true;
    }

    // 结束喷涂
    public boolean stopWork(CMDForm form) {
        Map<String, Object> params = form.getParams();
        List<Supplier<Boolean>> cmdList = new ArrayList<>();
        // 停止喷涂
        cmdList.add(deviceTcpCMDService::turnOffSyringePump);
        // 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"));
        initExecutorThread(cmdList, form);
        return true;
    }

    // 测试轴转动
    public boolean rotate(CMDForm form) {
        Map<String, Object> params = form.getParams();
        List<Supplier<Boolean>> 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.rotate(axis, rotationSpeed, time));
        initExecutorThread(cmdList, form);
        return true;
    }


    private void run(List<Supplier<Boolean>> cmdList, CMDForm form) {
        ExecutionResult executionResult = new ExecutionResult();
        executionResult.setCommandId(form.getCommandId());
        executionResult.setCommandName(form.getCommandName());

        // 执行所有命令
        for (Supplier<Boolean> command : cmdList) {
            boolean result = command.get();
            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);
    }
}