From 124696c7bbf331701973a09c5703bed86b81a4a6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= Date: Mon, 24 Mar 2025 00:05:42 +0800 Subject: [PATCH] =?UTF-8?q?fix:=E5=96=B7=E6=B6=82=E6=97=B6=E6=AF=8F?= =?UTF-8?q?=E4=B8=AA=E6=93=8D=E4=BD=9C=E6=8C=87=E4=BB=A4=E5=A2=9E=E5=8A=A0?= =?UTF-8?q?=E4=BA=92=E6=96=A5=E9=80=BB=E8=BE=91=E5=88=A4=E6=96=AD?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../qyft/ms/app/device/status/DeviceStatus.java | 1 - .../com/qyft/ms/app/device/status/SprayTask.java | 4 ++ .../front/cmd/business/MatrixSprayChangeParam.java | 7 ++- .../app/front/cmd/business/MatrixSprayPause.java | 2 +- .../app/front/cmd/business/MatrixSprayStart.java | 34 ++++++++--- .../ms/app/front/cmd/business/MatrixSprayStop.java | 67 +++++++++++++--------- .../ms/system/core/client/DeviceTcpClient.java | 2 +- .../listener/DeviceTcpMessageEventListener.java | 1 + 8 files changed, 77 insertions(+), 41 deletions(-) diff --git a/src/main/java/com/qyft/ms/app/device/status/DeviceStatus.java b/src/main/java/com/qyft/ms/app/device/status/DeviceStatus.java index 9c42647..33701c6 100644 --- a/src/main/java/com/qyft/ms/app/device/status/DeviceStatus.java +++ b/src/main/java/com/qyft/ms/app/device/status/DeviceStatus.java @@ -1,7 +1,6 @@ package com.qyft.ms.app.device.status; import cn.hutool.json.JSONObject; -import com.fasterxml.jackson.annotation.JsonIgnoreProperties; import lombok.Data; import org.springframework.stereotype.Component; diff --git a/src/main/java/com/qyft/ms/app/device/status/SprayTask.java b/src/main/java/com/qyft/ms/app/device/status/SprayTask.java index 42ae245..268f9ea 100644 --- a/src/main/java/com/qyft/ms/app/device/status/SprayTask.java +++ b/src/main/java/com/qyft/ms/app/device/status/SprayTask.java @@ -38,6 +38,10 @@ public class SprayTask { */ private volatile boolean suspendable = false; /** + * 是否正在结束 + */ + private volatile boolean closing = false; + /** * 设备是否正在进行的喷涂任务 */ private volatile boolean spraying = false; diff --git a/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayChangeParam.java b/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayChangeParam.java index 35debab..024ed5b 100644 --- a/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayChangeParam.java +++ b/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayChangeParam.java @@ -36,10 +36,11 @@ public class MatrixSprayChangeParam extends BaseCommandHandler { @Override public CompletableFuture handle(FrontCmdControlForm form) { SprayTask sprayTask = SprayTask.getInstance(); - if (!sprayTask.isSpraying()) {//判断设备是否正在喷涂 - webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_ERROR, "未开始喷涂无法修改")); - throw new RuntimeException("未开始喷涂无法修改"); + if (!sprayTask.isSpraying() || sprayTask.isClosing()) {//判断设备是否正在喷涂 + webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_ERROR, "目前无法修改喷涂参数")); + throw new RuntimeException("目前无法修改喷涂参数"); } + Double motorZHeight = form.getDoubleParam("motorZHeight"); Double gasPressure = form.getDoubleParam("gasPressure"); Double volume = form.getDoubleParam("volume"); diff --git a/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayPause.java b/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayPause.java index 0afeb54..1fce9f8 100644 --- a/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayPause.java +++ b/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayPause.java @@ -34,7 +34,7 @@ public class MatrixSprayPause extends BaseCommandHandler { @Override public CompletableFuture handle(FrontCmdControlForm form) { SprayTask sprayTask = SprayTask.getInstance(); - if (!sprayTask.isSuspendable()) { + if (!sprayTask.isSuspendable() || sprayTask.isClosing()) { throw new RuntimeException("当前喷涂任务不可暂停"); } sprayTask.setPaused(true);//已暂停 diff --git a/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayStart.java b/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayStart.java index e7734a9..da55354 100644 --- a/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayStart.java +++ b/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayStart.java @@ -314,14 +314,32 @@ public class MatrixSprayStart extends BaseCommandHandler { } } return runAsync(() -> { - //XYZ回原点 - DeviceCommand motorXOriginCommand = DeviceCommandGenerator.motorXOrigin(); - DeviceCommand motorYOriginCommand = DeviceCommandGenerator.motorYOrigin(); - DeviceCommand motorZOriginCommand = DeviceCommandGenerator.motorZOrigin(); - CommandFuture motorXOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXOriginCommand); - CommandFuture motorYOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYOriginCommand); - CommandFuture motorZOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZOriginCommand); - commandWait(motorXOriginCommandFuture, motorYOriginCommandFuture, motorZOriginCommandFuture); + DeviceCommand overallDeviceStatusGetCommand = DeviceCommandGenerator.overallDeviceStatusGet(); + CommandFuture overallDeviceStatusGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), overallDeviceStatusGetCommand); + commandWait(overallDeviceStatusGetCommandFuture); + + CommandFuture motorXOriginCommandFuture; + CommandFuture motorYOriginCommandFuture; + CommandFuture motorZOriginCommandFuture; + + List futureList = new ArrayList<>(); + if (!overallDeviceStatusGetCommandFuture.getResponseResult().getJSONObject("data").getBool("xAxisAtOrigin")) { + DeviceCommand motorXOriginCommand = DeviceCommandGenerator.motorXOrigin(); // x轴回原点 + motorXOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXOriginCommand); + futureList.add(motorXOriginCommandFuture); + } + if (!overallDeviceStatusGetCommandFuture.getResponseResult().getJSONObject("data").getBool("yAxisAtOrigin")) { + DeviceCommand motorYOriginCommand = DeviceCommandGenerator.motorYOrigin();//y轴回原点 + motorYOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYOriginCommand); + futureList.add(motorYOriginCommandFuture); + } + if (!overallDeviceStatusGetCommandFuture.getResponseResult().getJSONObject("data").getBool("zAxisAtOrigin")) { + DeviceCommand motorZOriginCommand = DeviceCommandGenerator.motorZOrigin();//z轴回原点 + motorZOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZOriginCommand); + futureList.add(motorZOriginCommandFuture); + } + CommandFuture[] commandFutureArray = futureList.toArray(new CommandFuture[0]); + commandWait(commandFutureArray); DeviceCommand threeWayValveOpenSyringePipelineCommand = DeviceCommandGenerator.threeWayValveOpenSyringePipeline();//打开三通阀喷嘴管路 CommandFuture threeWayValveOpenSyringePipelineCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), threeWayValveOpenSyringePipelineCommand); diff --git a/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayStop.java b/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayStop.java index 1a745ae..f0b6a09 100644 --- a/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayStop.java +++ b/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayStop.java @@ -17,6 +17,8 @@ import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; import org.springframework.stereotype.Component; +import java.util.ArrayList; +import java.util.List; import java.util.concurrent.CompletableFuture; /** @@ -40,38 +42,49 @@ public class MatrixSprayStop extends BaseCommandHandler { if (!sprayTask.isSpraying()) { throw new RuntimeException("设备没有正在喷涂"); } + if(sprayTask.isClosing()){ + throw new RuntimeException("正在结束喷涂，请稍后"); + } webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SPRAY_TASK_FINISH, "喷涂任务结束")); - SprayTask.getInstance().clear(); - deviceStatus.setSpraying(false); - deviceStatus.setPaused(false); - deviceStatus.setSuspendable(false); + return runAsync(() -> { - sprayTaskExecutor.stopTask();//终止喷涂任务线程 + sprayTask.setClosing(true); + try{ + sprayTaskExecutor.stopTask();//终止喷涂任务线程 + + DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop(); //停止推动注射泵 + CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpStopCommand); + DeviceCommand nozzleValveCloseCommand = DeviceCommandGenerator.nozzleValveClose(); //关闭喷嘴阀 + CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleValveCloseCommand); + DeviceCommand highVoltageCloseCommand = DeviceCommandGenerator.highVoltageClose(); //关闭高压 + CommandFuture highVoltageCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), highVoltageCloseCommand); + commandWait(syringePumpStopCommandFuture, nozzleValveCloseCommandFuture, highVoltageCloseCommandFuture); + + DeviceCommand motorXStopCommand = DeviceCommandGenerator.motorXStop(); //x轴停止移动 + DeviceCommand motorYStopCommand = DeviceCommandGenerator.motorYStop(); //y轴停止移动 + DeviceCommand motorZStopCommand = DeviceCommandGenerator.motorZStop(); //z轴停止移动 + CommandFuture motorXStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXStopCommand); + CommandFuture motorYStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYStopCommand); + CommandFuture motorZStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZStopCommand); + commandWait(motorXStopCommandFuture, motorYStopCommandFuture, motorZStopCommandFuture); - DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop(); //停止推动注射泵 - CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpStopCommand); - DeviceCommand nozzleValveCloseCommand = DeviceCommandGenerator.nozzleValveClose(); //关闭喷嘴阀 - CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleValveCloseCommand); - DeviceCommand highVoltageCloseCommand = DeviceCommandGenerator.highVoltageClose(); //关闭高压 - CommandFuture highVoltageCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), highVoltageCloseCommand); - commandWait(syringePumpStopCommandFuture, nozzleValveCloseCommandFuture, highVoltageCloseCommandFuture); + //XYZ回原点 + DeviceCommand motorXOriginCommand = DeviceCommandGenerator.motorXOrigin(); + DeviceCommand motorYOriginCommand = DeviceCommandGenerator.motorYOrigin(); + DeviceCommand motorZOriginCommand = DeviceCommandGenerator.motorZOrigin(); + CommandFuture motorXOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXOriginCommand); + CommandFuture motorYOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYOriginCommand); + CommandFuture motorZOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZOriginCommand); + commandWait(motorXOriginCommandFuture, motorYOriginCommandFuture, motorZOriginCommandFuture); - DeviceCommand motorXStopCommand = DeviceCommandGenerator.motorXStop(); //x轴停止移动 - DeviceCommand motorYStopCommand = DeviceCommandGenerator.motorYStop(); //y轴停止移动 - DeviceCommand motorZStopCommand = DeviceCommandGenerator.motorZStop(); //z轴停止移动 - CommandFuture motorXStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXStopCommand); - CommandFuture motorYStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYStopCommand); - CommandFuture motorZStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZStopCommand); - commandWait(motorXStopCommandFuture, motorYStopCommandFuture, motorZStopCommandFuture); + SprayTask.getInstance().clear(); + deviceStatus.setSpraying(false); + deviceStatus.setPaused(false); + deviceStatus.setSuspendable(false); + }finally { + sprayTask.setClosing(false); + } - //XYZ回原点 - DeviceCommand motorXOriginCommand = DeviceCommandGenerator.motorXOrigin(); - DeviceCommand motorYOriginCommand = DeviceCommandGenerator.motorYOrigin(); - DeviceCommand motorZOriginCommand = DeviceCommandGenerator.motorZOrigin(); - CommandFuture motorXOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXOriginCommand); - CommandFuture motorYOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYOriginCommand); - CommandFuture motorZOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZOriginCommand); - commandWait(motorXOriginCommandFuture, motorYOriginCommandFuture, motorZOriginCommandFuture); }); } } diff --git a/src/main/java/com/qyft/ms/system/core/client/DeviceTcpClient.java b/src/main/java/com/qyft/ms/system/core/client/DeviceTcpClient.java index 4a3b477..0cff09b 100644 --- a/src/main/java/com/qyft/ms/system/core/client/DeviceTcpClient.java +++ b/src/main/java/com/qyft/ms/system/core/client/DeviceTcpClient.java @@ -111,7 +111,7 @@ public class DeviceTcpClient { */ public boolean send(String request) { if (channel != null && channel.isActive()) { -// log.info("向设备发送TCP指令：{}", request); + log.info("向设备发送TCP指令：{}", request); channel.writeAndFlush(Unpooled.copiedBuffer(request, CharsetUtil.UTF_8)); return true; } else { diff --git a/src/main/java/com/qyft/ms/system/core/listener/DeviceTcpMessageEventListener.java b/src/main/java/com/qyft/ms/system/core/listener/DeviceTcpMessageEventListener.java index ad40567..2315cba 100644 --- a/src/main/java/com/qyft/ms/system/core/listener/DeviceTcpMessageEventListener.java +++ b/src/main/java/com/qyft/ms/system/core/listener/DeviceTcpMessageEventListener.java @@ -24,6 +24,7 @@ public class DeviceTcpMessageEventListener { @EventListener public void handleDeviceTcpMessageEvent(DeviceTcpMessageEvent event) { JSONObject deviceResult = event.getDeviceResult(); + log.info("设备反馈信息{}", JSONUtil.toJsonStr(deviceResult)); String tag = deviceResult.getStr("tag"); if ("ACK".equals(tag)) { log.info("ACK {}", JSONUtil.toJsonStr(deviceResult));