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matrix-spray-v2
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我也不知道改了什么

tags/1.0
白凤吉 4 months ago
parent
f9347935f4
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0f9e3725ee
8 changed files with 91 additions and 95 deletions
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  1. 35
      src/main/java/com/qyft/ms/app/device/spray/SprayTaskExecutor.java
  2. 25
      src/main/java/com/qyft/ms/app/device/status/SprayTask.java
  3. 21
      src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayChangeParam.java
  4. 14
      src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayStart.java
  5. 16
      src/main/java/com/qyft/ms/system/common/device/command/CommandFuture.java
  6. 4
      src/main/java/com/qyft/ms/system/common/device/command/DeviceCommandGenerator.java
  7. 66
      src/main/java/com/qyft/ms/system/service/device/DeviceCommandService.java
  8. 5
      src/main/resources/application.yml

35
src/main/java/com/qyft/ms/app/device/spray/SprayTaskExecutor.java
View File

@ -108,14 +108,6 @@ public class SprayTaskExecutor {
int currentStep = 0; //当前喷涂步骤 int currentStep = 0; //当前喷涂步骤
int sprayNum = 1; int sprayNum = 1;
for (SprayTaskStep sprayTaskStep : sprayTask.getSprayTaskStepList()) {//循环进行多次喷涂 for (SprayTaskStep sprayTaskStep : sprayTask.getSprayTaskStepList()) {//循环进行多次喷涂
//加快速度
// DeviceCommand motorXSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorXSpeedSet(20.0);//x轴电机速度设置
// DeviceCommand motorYSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorYSpeedSet(20.0);//y轴电机速度设置
// DeviceCommand motorZSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorZSpeedSet(20.0);//z轴电机速度设置
// CommandFuture motorXSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXSpeedSetCmdToDeviceCommand);
// CommandFuture motorYSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYSpeedSetCmdToDeviceCommand);
// CommandFuture motorZSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZSpeedSetCmdToDeviceCommand);
// commandWait(motorXSpeedSetCmdToDeviceCommandFuture, motorYSpeedSetCmdToDeviceCommandFuture, motorZSpeedSetCmdToDeviceCommandFuture);
//先移动到玻片位置 //先移动到玻片位置
DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(slideArr[sprayTaskStep.getIndex()][0],20.0); DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(slideArr[sprayTaskStep.getIndex()][0],20.0);
DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorYPositionSet(75.5 - slideArr[sprayTaskStep.getIndex()][1],20.0); DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorYPositionSet(75.5 - slideArr[sprayTaskStep.getIndex()][1],20.0);
@ -129,15 +121,6 @@ public class SprayTaskExecutor {
CommandFuture motorZPositionSetAboveSlideCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZPositionSetAboveSlideCommand); CommandFuture motorZPositionSetAboveSlideCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZPositionSetAboveSlideCommand);
commandWait(motorXPositionSetCommandFuture, motorYPositionSetCommandFuture, motorZPositionSetAboveSlideCommandFuture); commandWait(motorXPositionSetCommandFuture, motorYPositionSetCommandFuture, motorZPositionSetAboveSlideCommandFuture);
//还原速度
// motorXSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorXSpeedSet(sprayTask.getSprayParams().getMovingSpeed());//x轴电机速度设置
// motorYSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorYSpeedSet(sprayTask.getSprayParams().getMovingSpeed());//y轴电机速度设置
// motorZSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorZSpeedSet(sprayTask.getSprayParams().getMovingSpeed());//y轴电机速度设置
// motorXSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXSpeedSetCmdToDeviceCommand);
// motorYSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYSpeedSetCmdToDeviceCommand);
// motorZSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZSpeedSetCmdToDeviceCommand);
// commandWait(motorXSpeedSetCmdToDeviceCommandFuture, motorYSpeedSetCmdToDeviceCommandFuture, motorZSpeedSetCmdToDeviceCommandFuture);
DeviceCommand syringePumpForwardCommand = DeviceCommandGenerator.syringePumpForward(sprayTask.getSprayParams().getVolume());//推动移动注射泵 DeviceCommand syringePumpForwardCommand = DeviceCommandGenerator.syringePumpForward(sprayTask.getSprayParams().getVolume());//推动移动注射泵
CommandFuture syringePumpForwardCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpForwardCommand); CommandFuture syringePumpForwardCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpForwardCommand);
commandWait(syringePumpForwardCommandFuture); commandWait(syringePumpForwardCommandFuture);
@ -156,6 +139,7 @@ public class SprayTaskExecutor {
List<CommandFuture> commandFutureList = new ArrayList<>(); List<CommandFuture> commandFutureList = new ArrayList<>();
double aXPoint = (double) sprayStepCommands.get(0).getParam().get("position"); double aXPoint = (double) sprayStepCommands.get(0).getParam().get("position");
double aYPoint = (double) sprayStepCommands.get(1).getParam().get("position"); double aYPoint = (double) sprayStepCommands.get(1).getParam().get("position");
if(cacheXPoint != aXPoint){ if(cacheXPoint != aXPoint){
CommandFuture commandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), sprayStepCommands.get(0)); CommandFuture commandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), sprayStepCommands.get(0));
commandFutureList.add(commandFuture); commandFutureList.add(commandFuture);
@ -209,15 +193,6 @@ public class SprayTaskExecutor {
CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), nozzleValveCloseCommand); CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), nozzleValveCloseCommand);
commandWait(nozzleValveCloseCommandFuture); commandWait(nozzleValveCloseCommandFuture);
//加快速度
// DeviceCommand motorXSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorXSpeedSet(20.0);//x轴电机速度设置
// DeviceCommand motorYSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorYSpeedSet(20.0);//y轴电机速度设置
// DeviceCommand motorZSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorZSpeedSet(20.0);//y轴电机速度设置
// CommandFuture motorXSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXSpeedSetCmdToDeviceCommand);
// CommandFuture motorYSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYSpeedSetCmdToDeviceCommand);
// CommandFuture motorZSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZSpeedSetCmdToDeviceCommand);
// commandWait(motorXSpeedSetCmdToDeviceCommandFuture, motorYSpeedSetCmdToDeviceCommandFuture, motorZSpeedSetCmdToDeviceCommandFuture);
//XYZ回原点 //XYZ回原点
DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(0.0,20.0); DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(0.0,20.0);
DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorYPositionSet(0.0,20.0); DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorYPositionSet(0.0,20.0);
@ -227,14 +202,6 @@ public class SprayTaskExecutor {
CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZPositionSetCommand); CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZPositionSetCommand);
commandWait(motorXPositionSetCommandFuture, motorYPositionSetCommandFuture, motorZPositionSetCommandFuture); commandWait(motorXPositionSetCommandFuture, motorYPositionSetCommandFuture, motorZPositionSetCommandFuture);
//还原速度
// motorXSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorXSpeedSet(sprayTask.getSprayParams().getMovingSpeed());//x轴电机速度设置
// motorYSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorYSpeedSet(sprayTask.getSprayParams().getMovingSpeed());//y轴电机速度设置
// motorZSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorZSpeedSet(sprayTask.getSprayParams().getMovingSpeed());//y轴电机速度设置
// motorXSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXSpeedSetCmdToDeviceCommand);
// motorYSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYSpeedSetCmdToDeviceCommand);
// motorZSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZSpeedSetCmdToDeviceCommand);
// commandWait(motorXSpeedSetCmdToDeviceCommandFuture, motorYSpeedSetCmdToDeviceCommandFuture, motorZSpeedSetCmdToDeviceCommandFuture);
webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SUCCESS, "喷涂任务执行成功")); webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SUCCESS, "喷涂任务执行成功"));
webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SPRAY_TASK_FINISH, "喷涂任务结束")); webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SPRAY_TASK_FINISH, "喷涂任务结束"));

25
src/main/java/com/qyft/ms/app/device/status/SprayTask.java
View File

@ -71,12 +71,25 @@ public class SprayTask {
Boolean highVoltage, Boolean highVoltage,
Double highVoltageValue, Double highVoltageValue,
Double movingSpeed) { Double movingSpeed) {
sprayParams.setMotorZHeight(motorZHeight);
sprayParams.setGasPressure(gasPressure);
sprayParams.setVolume(volume);
sprayParams.setHighVoltage(highVoltage);
sprayParams.setHighVoltageValue(highVoltageValue);
sprayParams.setMovingSpeed(movingSpeed);
if (motorZHeight != null) {
sprayParams.setMotorZHeight(motorZHeight);
}
if (gasPressure != null) {
sprayParams.setGasPressure(gasPressure);
}
if (volume != null) {
sprayParams.setVolume(volume);
}
if (highVoltage != null) {
sprayParams.setHighVoltage(highVoltage);
}
if (highVoltageValue != null) {
sprayParams.setHighVoltageValue(highVoltageValue);
}
if (movingSpeed != null) {
sprayParams.setMovingSpeed(movingSpeed);
}
} }
public void setSprayParam(String matrixPathType, public void setSprayParam(String matrixPathType,

21
src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayChangeParam.java
View File

@ -42,20 +42,23 @@ public class MatrixSprayChangeParam extends BaseCommandHandler {
Boolean highVoltage = form.getBooleanParam("highVoltage"); Boolean highVoltage = form.getBooleanParam("highVoltage");
Double highVoltageValue = form.getDoubleParam("highVoltageValue"); Double highVoltageValue = form.getDoubleParam("highVoltageValue");
Double movingSpeed = form.getDoubleParam("movingSpeed"); Double movingSpeed = form.getDoubleParam("movingSpeed");
sprayTask.setChangeSprayParam(motorZHeight, gasPressure, volume, highVoltage, highVoltageValue, movingSpeed);
if (highVoltageValue > 6000) { if (highVoltageValue > 6000) {
webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.ERROR, "电压不能大于6000V")); webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.ERROR, "电压不能大于6000V"));
throw new RuntimeException("电压不能大于6000V"); throw new RuntimeException("电压不能大于6000V");
} }
sprayTask.setChangeSprayParam(motorZHeight, gasPressure, volume, highVoltage, highVoltageValue, movingSpeed);
return runAsync(() -> { return runAsync(() -> {
//1.速度 //1.速度
DeviceCommand motorXSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorXSpeedSet(movingSpeed);//x轴电机速度设置
DeviceCommand motorYSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorYSpeedSet(movingSpeed);//y轴电机速度设置
DeviceCommand motorZSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorZSpeedSet(movingSpeed);//z轴电机速度设置
CommandFuture motorXSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXSpeedSetCmdToDeviceCommand);
CommandFuture motorYSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYSpeedSetCmdToDeviceCommand);
CommandFuture motorZSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZSpeedSetCmdToDeviceCommand);
commandWait(motorXSpeedSetCmdToDeviceCommandFuture, motorYSpeedSetCmdToDeviceCommandFuture, motorZSpeedSetCmdToDeviceCommandFuture);
// DeviceCommand motorXSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorXSpeedSet(movingSpeed);//x轴电机速度设置
// DeviceCommand motorYSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorYSpeedSet(movingSpeed);//y轴电机速度设置
// DeviceCommand motorZSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorZSpeedSet(movingSpeed);//z轴电机速度设置
// CommandFuture motorXSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXSpeedSetCmdToDeviceCommand);
// CommandFuture motorYSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYSpeedSetCmdToDeviceCommand);
// CommandFuture motorZSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZSpeedSetCmdToDeviceCommand);
// commandWait(motorXSpeedSetCmdToDeviceCommandFuture, motorYSpeedSetCmdToDeviceCommandFuture, motorZSpeedSetCmdToDeviceCommandFuture);
//2.流速 //2.流速
// DeviceCommand syringePumpVolumeSetCommand = DeviceCommandGenerator.syringePumpVolumeSet(volume);//注射泵流速设置 // DeviceCommand syringePumpVolumeSetCommand = DeviceCommandGenerator.syringePumpVolumeSet(volume);//注射泵流速设置
// CommandFuture syringePumpVolumeSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpVolumeSetCommand); // CommandFuture syringePumpVolumeSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpVolumeSetCommand);
@ -64,7 +67,7 @@ public class MatrixSprayChangeParam extends BaseCommandHandler {
SysSettings slideHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper<SysSettings>().eq(SysSettings::getCode, "slide_height")); SysSettings slideHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper<SysSettings>().eq(SysSettings::getCode, "slide_height"));
Double slideHeight = Double.parseDouble(slideHeightSysSettings.getValue()); Double slideHeight = Double.parseDouble(slideHeightSysSettings.getValue());
Double height = slideHeight - motorZHeight; Double height = slideHeight - motorZHeight;
DeviceCommand smotorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(height);//移动z轴到指定位置
DeviceCommand smotorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(height, sprayTask.getSprayParams().getMovingSpeed());//移动z轴到指定位置
CommandFuture smotorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), smotorZPositionSetCommand); CommandFuture smotorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), smotorZPositionSetCommand);
commandWait(smotorZPositionSetCommandFuture); commandWait(smotorZPositionSetCommandFuture);
if (!sprayTask.isPaused()) { if (!sprayTask.isPaused()) {

14
src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayStart.java
View File

@ -151,13 +151,13 @@ public class MatrixSprayStart extends BaseCommandHandler {
operationLogService.add(operationLog); operationLogService.add(operationLog);
//1.速度 //1.速度
DeviceCommand motorXSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorXSpeedSet(sprayTask.getSprayParams().getMovingSpeed());//x轴电机速度设置
DeviceCommand motorYSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorYSpeedSet(sprayTask.getSprayParams().getMovingSpeed());//y轴电机速度设置
DeviceCommand motorZSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorZSpeedSet(sprayTask.getSprayParams().getMovingSpeed());//z轴电机速度设置
CommandFuture motorXSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXSpeedSetCmdToDeviceCommand);
CommandFuture motorYSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYSpeedSetCmdToDeviceCommand);
CommandFuture motorZSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZSpeedSetCmdToDeviceCommand);
commandWait(motorXSpeedSetCmdToDeviceCommandFuture, motorYSpeedSetCmdToDeviceCommandFuture, motorZSpeedSetCmdToDeviceCommandFuture);
// DeviceCommand motorXSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorXSpeedSet(sprayTask.getSprayParams().getMovingSpeed());//x轴电机速度设置
// DeviceCommand motorYSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorYSpeedSet(sprayTask.getSprayParams().getMovingSpeed());//y轴电机速度设置
// DeviceCommand motorZSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorZSpeedSet(sprayTask.getSprayParams().getMovingSpeed());//z轴电机速度设置
// CommandFuture motorXSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXSpeedSetCmdToDeviceCommand);
// CommandFuture motorYSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYSpeedSetCmdToDeviceCommand);
// CommandFuture motorZSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZSpeedSetCmdToDeviceCommand);
// commandWait(motorXSpeedSetCmdToDeviceCommandFuture, motorYSpeedSetCmdToDeviceCommandFuture, motorZSpeedSetCmdToDeviceCommandFuture);
//2.流速 //2.流速
// DeviceCommand syringePumpVolumeSetCommand = DeviceCommandGenerator.syringePumpVolumeSet(sprayTask.getSprayParams().getVolume());//注射泵流速设置 // DeviceCommand syringePumpVolumeSetCommand = DeviceCommandGenerator.syringePumpVolumeSet(sprayTask.getSprayParams().getVolume());//注射泵流速设置
// CommandFuture syringePumpVolumeSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpVolumeSetCommand); // CommandFuture syringePumpVolumeSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpVolumeSetCommand);

16
src/main/java/com/qyft/ms/system/common/device/command/CommandFuture.java
View File

@ -2,6 +2,7 @@ package com.qyft.ms.system.common.device.command;
import cn.hutool.json.JSONObject; import cn.hutool.json.JSONObject;
import lombok.Getter; import lombok.Getter;
import lombok.Setter;
import java.util.concurrent.CompletableFuture; import java.util.concurrent.CompletableFuture;
import java.util.concurrent.ExecutionException; import java.util.concurrent.ExecutionException;
@ -11,17 +12,22 @@ public class CommandFuture {
/** /**
* 用于保存ack反馈 * 用于保存ack反馈
*/ */
private final CompletableFuture<JSONObject> ackFuture = new CompletableFuture<>();
// private final CompletableFuture<JSONObject> ackFuture = new CompletableFuture<>();
/** /**
* 用于保存response反馈 * 用于保存response反馈
*/ */
private final CompletableFuture<JSONObject> responseFuture = new CompletableFuture<>(); private final CompletableFuture<JSONObject> responseFuture = new CompletableFuture<>();
@Setter
private long startSendTime;
@Setter
private long endSendTime;
/** /**
* 完成ack反馈 * 完成ack反馈
*/ */
public void completeAck(JSONObject result) { public void completeAck(JSONObject result) {
ackFuture.complete(result);
// ackFuture.complete(result);
} }
/** /**
@ -35,9 +41,9 @@ public class CommandFuture {
/** /**
* 获取ack反馈的json * 获取ack反馈的json
*/ */
public JSONObject getAckResult() throws ExecutionException, InterruptedException {
return ackFuture.get();
}
// public JSONObject getAckResult() throws ExecutionException, InterruptedException {
// return ackFuture.get();
// }
/** /**
* 获取response反馈的json * 获取response反馈的json

4
src/main/java/com/qyft/ms/system/common/device/command/DeviceCommandGenerator.java
View File

@ -500,9 +500,9 @@ public class DeviceCommandGenerator {
* 设备指令包装 * 设备指令包装
*/ */
private static DeviceCommand deviceCmd(String code, String device, String action, Map<String, Object> params, String commandName) { private static DeviceCommand deviceCmd(String code, String device, String action, Map<String, Object> params, String commandName) {
int cmdId = CyclicNumberGenerator.getInstance().generateNumber();
// int cmdId = CyclicNumberGenerator.getInstance().generateNumber();
DeviceCommand cmdToDevice = new DeviceCommand(); DeviceCommand cmdToDevice = new DeviceCommand();
cmdToDevice.setCmdId(cmdId);
// cmdToDevice.setCmdId(cmdId);
cmdToDevice.setCmdCode(code); cmdToDevice.setCmdCode(code);
cmdToDevice.setDevice(device); cmdToDevice.setDevice(device);
cmdToDevice.setAction(action); cmdToDevice.setAction(action);

66
src/main/java/com/qyft/ms/system/service/device/DeviceCommandService.java
View File

@ -4,6 +4,7 @@ import cn.hutool.json.JSONObject;
import com.qyft.ms.app.device.status.DeviceStatus; import com.qyft.ms.app.device.status.DeviceStatus;
import com.qyft.ms.system.common.constant.CommandStatus; import com.qyft.ms.system.common.constant.CommandStatus;
import com.qyft.ms.system.common.device.command.CommandFuture; import com.qyft.ms.system.common.device.command.CommandFuture;
import com.qyft.ms.system.common.device.command.CyclicNumberGenerator;
import com.qyft.ms.system.common.device.command.FrontResponseGenerator; import com.qyft.ms.system.common.device.command.FrontResponseGenerator;
import com.qyft.ms.system.core.client.DeviceTcpClient; import com.qyft.ms.system.core.client.DeviceTcpClient;
import com.qyft.ms.system.model.bo.DeviceCommand; import com.qyft.ms.system.model.bo.DeviceCommand;
@ -29,29 +30,35 @@ public class DeviceCommandService {
public CommandFuture executeCommand(DeviceCommand cmdToDevice) { public CommandFuture executeCommand(DeviceCommand cmdToDevice) {
int cmdId = CyclicNumberGenerator.getInstance().generateNumber();
cmdToDevice.setCmdId(cmdId);
CommandFuture cmdFuture = new CommandFuture(); CommandFuture cmdFuture = new CommandFuture();
commandFutureMap.put(cmdToDevice.getCmdId(), cmdFuture); commandFutureMap.put(cmdToDevice.getCmdId(), cmdFuture);
cmdFuture.setStartSendTime(System.currentTimeMillis());
if (!deviceTcpClient.sendToJSON(cmdToDevice)) { if (!deviceTcpClient.sendToJSON(cmdToDevice)) {
commandFutureMap.remove(cmdToDevice.getCmdId()); commandFutureMap.remove(cmdToDevice.getCmdId());
throw new RuntimeException("向设备发送指令失败"); throw new RuntimeException("向设备发送指令失败");
} }
cmdFuture.getResponseFuture().whenComplete((result, ex) ->
commandFutureMap.remove(cmdToDevice.getCmdId()));
cmdFuture.getResponseFuture().whenComplete((result, ex) -> {
log.info("commandFutureMap 移除id:{} 剩余:{}", cmdToDevice.getCmdId(),commandFutureMap.size());
commandFutureMap.remove(cmdToDevice.getCmdId());
});
return cmdFuture; return cmdFuture;
} }
public CommandFuture sendCommandNoFront(DeviceCommand deviceCommand) { public CommandFuture sendCommandNoFront(DeviceCommand deviceCommand) {
CommandFuture commandFuture = executeCommand(deviceCommand); CommandFuture commandFuture = executeCommand(deviceCommand);
commandFuture.getAckFuture().thenApply(result -> {
Boolean status = result.getBool("status");
if (!status) { //ack失败
String message = deviceCommand.getCmdName() + "指令，设备ack错误";
throw new RuntimeException(message);
}
return result;
});
// commandFuture.getAckFuture().thenApply(result -> {
// Boolean status = result.getBool("status");
// if (!status) { //ack失败
// String message = deviceCommand.getCmdName() + "指令，设备ack错误";
// throw new RuntimeException(message);
// }
// return result;
// });
commandFuture.getResponseFuture().thenApply(result -> { commandFuture.getResponseFuture().thenApply(result -> {
Boolean status = result.getBool("status"); Boolean status = result.getBool("status");
@ -67,17 +74,17 @@ public class DeviceCommandService {
public CommandFuture sendCommand(String cmdId, String cmdCode, DeviceCommand deviceCommand) throws IOException { public CommandFuture sendCommand(String cmdId, String cmdCode, DeviceCommand deviceCommand) throws IOException {
CommandFuture commandFuture = executeCommand(deviceCommand); CommandFuture commandFuture = executeCommand(deviceCommand);
webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(cmdId, cmdCode, CommandStatus.SEND, "已向设备发送了" + deviceCommand.getCmdName() + "指令", deviceCommand));
commandFuture.getAckFuture().thenApply(result -> {
Boolean status = result.getBool("status");
if (!status) { //ack失败
String message = deviceCommand.getCmdName() + "指令，设备ack错误";
webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(cmdId, cmdCode, CommandStatus.SEND, message, result));
throw new RuntimeException(message);
}
webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(cmdId, cmdCode, CommandStatus.RESULT, deviceCommand.getCmdName() + "指令，设备ack正常", result));
return result;
});
// webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(cmdId, cmdCode, CommandStatus.SEND, "已向设备发送了" + deviceCommand.getCmdName() + "指令", deviceCommand));
// commandFuture.getAckFuture().thenApply(result -> {
// Boolean status = result.getBool("status");
// if (!status) { //ack失败
// String message = deviceCommand.getCmdName() + "指令，设备ack错误";
// webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(cmdId, cmdCode, CommandStatus.SEND, message, result));
// throw new RuntimeException(message);
// }
// webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(cmdId, cmdCode, CommandStatus.RESULT, deviceCommand.getCmdName() + "指令，设备ack正常", result));
// return result;
// });
commandFuture.getResponseFuture().thenApply(result -> { commandFuture.getResponseFuture().thenApply(result -> {
Boolean status = result.getBool("status"); Boolean status = result.getBool("status");
@ -86,7 +93,7 @@ public class DeviceCommandService {
webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(cmdId, cmdCode, CommandStatus.SEND, message, result)); webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(cmdId, cmdCode, CommandStatus.SEND, message, result));
throw new RuntimeException(message); throw new RuntimeException(message);
} }
webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(cmdId, cmdCode, CommandStatus.RESULT, deviceCommand.getCmdName() + "指令，设备response正常", result));
webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(cmdId, cmdCode, CommandStatus.RESULT, deviceCommand.getCmdName() + "指令，设备response正常，耗时:" + (commandFuture.getEndSendTime() - commandFuture.getStartSendTime()), result));
return result.get("data"); return result.get("data");
}); });
@ -113,13 +120,13 @@ public class DeviceCommandService {
} }
public void completeCommandAck(JSONObject deviceResult) { public void completeCommandAck(JSONObject deviceResult) {
Integer cmdId = deviceResult.getInt("cmdId");
if (cmdId != null) {
CommandFuture future = commandFutureMap.get(cmdId);
if (future != null) {
future.completeAck(deviceResult);
}
}
// Integer cmdId = deviceResult.getInt("cmdId");
// if (cmdId != null) {
// CommandFuture future = commandFutureMap.get(cmdId);
// if (future != null) {
// future.completeAck(deviceResult);
// }
// }
} }
public void completeCommandResponse(JSONObject deviceResult) { public void completeCommandResponse(JSONObject deviceResult) {
@ -127,6 +134,7 @@ public class DeviceCommandService {
if (cmdId != null) { if (cmdId != null) {
CommandFuture future = commandFutureMap.get(cmdId); CommandFuture future = commandFutureMap.get(cmdId);
if (future != null) { if (future != null) {
future.setEndSendTime(System.currentTimeMillis());
future.completeResponse(deviceResult); future.completeResponse(deviceResult);
} }
} }

5
src/main/resources/application.yml
View File

@ -38,9 +38,8 @@ jwt:
tcp: tcp:
enable: true # 是否开启 TCP 连接 enable: true # 是否开启 TCP 连接
server-enable: true # 是否开启 TCP 连接 server-enable: true # 是否开启 TCP 连接
# host: 127.0.0.1
# host: 192.168.1.168
host: 192.168.1.168
host: 127.0.0.1
# host: 192.168.100.168
port: 9080 port: 9080
reconnect: 5000 # 断线重连间隔（单位：毫秒） reconnect: 5000 # 断线重连间隔（单位：毫秒）
timeout: 10000 # 连接超时时间（单位：毫秒） timeout: 10000 # 连接超时时间（单位：毫秒）

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