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matrix-spray-v2
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fix:delay的时候暂停恢复暂停时继续dealy

master
白凤吉 2 weeks ago
parent
7dae152e44
commit
19450b3fef
1 changed files with 11 additions and 24 deletions
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  1. 35
      src/main/java/com/qyft/ms/app/device/spray/SprayTaskExecutor.java

35
src/main/java/com/qyft/ms/app/device/spray/SprayTaskExecutor.java
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@ -76,7 +76,7 @@ public class SprayTaskExecutor {
webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.START, "喷涂任务开始执行"));
List<SprayTaskParams> sprayTaskParams = sprayTask.getSprayTaskParams();
for (SprayTaskParams sprayTaskParam : sprayTaskParams) {//循环玻片
if (sprayTask.getCurrentIndex() != null && sprayTaskParam.getIndex() < sprayTask.getCurrentIndex()) {
if (sprayTask.getCurrentIndex() != null && sprayTaskParam.getIndex() < sprayTask.getCurrentIndex()) {//喷涂过的玻片跳过
continue;
}
sprayTask.setCurrentIndex(sprayTaskParam.getIndex());
@ -93,7 +93,7 @@ public class SprayTaskExecutor {
continue;
}
sprayTask.setSprayTimes(sprayTimes);
Double[] slide = slideArr[sprayTaskParam.getIndex()];//获取玻片的坐标
Double[] slide = slideArr[sprayTaskParam.getIndex()];//获取玻片原点的坐标
List<SprayTaskStep> sprayTaskStepList = getSprayPath(sprayTimes);//计算本次喷涂的路线
@ -117,30 +117,11 @@ public class SprayTaskExecutor {
commandWait(threeWayValveOpenSyringePipelineCommandFuture);
delay(500);
//判断是否有暂停的点位，如果有则还原暂停时的点位
// Point3D currentPausedPoint = sprayTask.getCurrentPausedPoint();
// if (currentPausedPoint != null) {
// DeviceCommand motorXRestoreCommand = DeviceCommandGenerator.motorXPositionSet(currentPausedPoint.x, 20.0);
// DeviceCommand motorYRestoreCommand = DeviceCommandGenerator.motorYPositionSet(currentPausedPoint.y, 20.0);
// DeviceCommand motorZRestoreCommand = DeviceCommandGenerator.motorZPositionSet(currentPausedPoint.z, 20.0);
// CommandFuture motorXRestoreCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXRestoreCommand);
// CommandFuture motorYRestoreCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYRestoreCommand);
// CommandFuture motorZRestoreCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZRestoreCommand);
// commandWait(motorXRestoreCommandFuture, motorYRestoreCommandFuture, motorZRestoreCommandFuture);
// sprayTask.setCurrentPausedPoint(null);
// }
//因为走的是折线，所以单次指令只需要移动x或y，缓存上一个点位用来判断本次是走x还是y
double cacheXPoint = -1;
double cacheYPoint = -1;
int currentStep = 0; //记录当前线程喷涂步骤序号
for (SprayTaskStep sprayTaskStep : sprayTaskStepList) {//因为田字格喷涂其实是两次
if (sprayTimes.getHighVoltage()) {//加电
DeviceCommand highVoltageOpenCommand = DeviceCommandGenerator.highVoltageOpen(sprayTimes.getHighVoltageValue());//开启高压
CommandFuture highVoltageOpenCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), highVoltageOpenCommand);
commandWait(highVoltageOpenCommandFuture);
}
DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen();//开启喷嘴阀
CommandFuture nozzleValveOpenCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), nozzleValveOpenCommand);
commandWait(nozzleValveOpenCommandFuture);
@ -149,6 +130,12 @@ public class SprayTaskExecutor {
CommandFuture syringePumpForwardCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpForwardCommand);
commandWait(syringePumpForwardCommandFuture);
if (sprayTimes.getHighVoltage()) {//加电
DeviceCommand highVoltageOpenCommand = DeviceCommandGenerator.highVoltageOpen(sprayTimes.getHighVoltageValue());//开启高压
CommandFuture highVoltageOpenCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), highVoltageOpenCommand);
commandWait(highVoltageOpenCommandFuture);
}
for (int i = 0; i < sprayTaskStep.getSprayPathPointList().size(); i++) {//循环路线
if (currentStep < sprayTask.getCurrentStep()) {
currentStep++;
@ -178,12 +165,12 @@ public class SprayTaskExecutor {
sprayTask.setCurrentStep(currentStep);
}
//一次喷涂完毕后停止推注射泵
DeviceCommand highVoltageCloseCommand = DeviceCommandGenerator.highVoltageClose(); //关闭高压
CommandFuture highVoltageCloseCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), highVoltageCloseCommand);
DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop(); //停止推动注射泵
CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpStopCommand);
DeviceCommand nozzleValveCloseCommand = DeviceCommandGenerator.nozzleValveClose(); //关闭喷嘴阀
CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), nozzleValveCloseCommand);
DeviceCommand highVoltageCloseCommand = DeviceCommandGenerator.highVoltageClose(); //关闭高压
CommandFuture highVoltageCloseCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), highVoltageCloseCommand);
commandWait(syringePumpStopCommandFuture, nozzleValveCloseCommandFuture, highVoltageCloseCommandFuture);
sprayTask.setCurrentCountSprayNum(sprayTask.getCurrentCountSprayNum() + 1);
@ -191,10 +178,10 @@ public class SprayTaskExecutor {
delay(sprayTimes.getGridDelay() * 1000);
}
}
delay(sprayTimes.getDelay() * 1000);
sprayNum++;
sprayTask.setSprayNum(sprayNum);
sprayTask.setCurrentStep(0);
delay(sprayTimes.getDelay() * 1000);
}
sprayTask.setSprayNum(0);
}

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