From 2e5ba19ca5fb055519f747a12f21a494f488490e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= Date: Sat, 22 Mar 2025 15:19:31 +0800 Subject: [PATCH] =?UTF-8?q?fix:=E7=A7=BB=E5=8A=A8=E7=94=B5=E6=9C=BA?= =?UTF-8?q?=E5=BF=85=E9=A1=BB=E7=BB=99=E9=80=9F=E5=BA=A6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../ms/app/device/spray/SprayTaskExecutor.java | 48 +-- .../com/qyft/ms/app/device/status/SprayTask.java | 5 - .../app/front/cmd/business/MatrixSprayStart.java | 332 +++++++++++---------- .../ms/app/front/cmd/business/MatrixSprayStop.java | 16 +- .../app/front/cmd/business/NozzlePipelineWash.java | 6 +- .../device/command/DeviceCommandGenerator.java | 21 -- 6 files changed, 198 insertions(+), 230 deletions(-) diff --git a/src/main/java/com/qyft/ms/app/device/spray/SprayTaskExecutor.java b/src/main/java/com/qyft/ms/app/device/spray/SprayTaskExecutor.java index 841a1b8..bb6f280 100644 --- a/src/main/java/com/qyft/ms/app/device/spray/SprayTaskExecutor.java +++ b/src/main/java/com/qyft/ms/app/device/spray/SprayTaskExecutor.java @@ -71,39 +71,6 @@ public class SprayTaskExecutor { taskThread = new Thread(() -> { try { webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.START, "喷涂任务开始执行")); - if (!sprayTask.isSprayPreStepsCompleted()) { - //XYZ回原点 - DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(0.0); - DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorYPositionSet(0.0); - DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(0.0); - CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXPositionSetCommand); - CommandFuture motorYPositionSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYPositionSetCommand); - CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZPositionSetCommand); - commandWait(motorXPositionSetCommandFuture, motorYPositionSetCommandFuture, motorZPositionSetCommandFuture); -// -// SysSettings slideHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper().eq(SysSettings::getCode, "slide_height")); -// Double slideHeight = Double.parseDouble(slideHeightSysSettings.getValue()); -// Double height = slideHeight - sprayTask.getSprayParams().getMotorZHeight();//下降z轴高度 -// DeviceCommand motorZPositionSetAboveSlideCommand = DeviceCommandGenerator.motorZPositionSet(height); -// CommandFuture motorZPositionSetAboveSlideCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZPositionSetAboveSlideCommand); -// commandWait(motorZPositionSetAboveSlideCommandFuture); - - DeviceCommand threeWayValveOpenSyringePipelineCommand = DeviceCommandGenerator.threeWayValveOpenSyringePipeline();//打开三通阀喷嘴管路 - CommandFuture threeWayValveOpenSyringePipelineCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), threeWayValveOpenSyringePipelineCommand); - commandWait(threeWayValveOpenSyringePipelineCommandFuture); - - if (sprayTask.getSprayParams().getHighVoltage()) {//加电 - DeviceCommand highVoltageOpenCommand = DeviceCommandGenerator.highVoltageOpen(sprayTask.getSprayParams().getHighVoltageValue());//开启高压 - CommandFuture highVoltageOpenCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), highVoltageOpenCommand); - commandWait(highVoltageOpenCommandFuture); - } - sprayTask.setSprayPreStepsCompleted(true); - } - DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen();//开启喷嘴阀 - CommandFuture nozzleValveOpenCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), nozzleValveOpenCommand); - commandWait(nozzleValveOpenCommandFuture); - - int reCurrentStep = sprayTask.getCurrentStep(); int currentStep = 0; //当前喷涂步骤 int sprayNum = 1; @@ -185,6 +152,7 @@ public class SprayTaskExecutor { commandWait(syringePumpStopCommandFuture); sprayNum++; } + DeviceCommand highVoltageCloseCommand = DeviceCommandGenerator.highVoltageClose();//关闭高压 CommandFuture highVoltageCloseCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), highVoltageCloseCommand); commandWait(highVoltageCloseCommandFuture); @@ -194,13 +162,13 @@ public class SprayTaskExecutor { commandWait(nozzleValveCloseCommandFuture); //XYZ回原点 - DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(0.0,20.0); - DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorYPositionSet(0.0,20.0); - DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(0.0,15.0); - CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXPositionSetCommand); - CommandFuture motorYPositionSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYPositionSetCommand); - CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZPositionSetCommand); - commandWait(motorXPositionSetCommandFuture, motorYPositionSetCommandFuture, motorZPositionSetCommandFuture); + DeviceCommand motorXOriginCommand = DeviceCommandGenerator.motorXOrigin(); + DeviceCommand motorYOriginCommand = DeviceCommandGenerator.motorYOrigin(); + DeviceCommand motorZOriginCommand = DeviceCommandGenerator.motorZOrigin(); + CommandFuture motorXOriginCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXOriginCommand); + CommandFuture motorYOriginCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYOriginCommand); + CommandFuture motorZOriginCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZOriginCommand); + commandWait(motorXOriginCommandFuture, motorYOriginCommandFuture, motorZOriginCommandFuture); webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SUCCESS, "喷涂任务执行成功")); 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 65ff5a6..6548b59 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 @@ -41,10 +41,6 @@ public class SprayTask { */ private volatile boolean spraying = false; /** - * 喷涂前置步骤是否完成 - */ - private volatile boolean sprayPreStepsCompleted = false; - /** * 当前正在执行的步骤序号 */ private volatile int currentStep = 0; @@ -120,7 +116,6 @@ public class SprayTask { paused = false; suspendable = false; spraying = false; - sprayPreStepsCompleted = false; sprayTaskStepList.clear(); currentStep = 0; sprayTaskSprayedList.clear(); 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 9b3919c..68b3204 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 @@ -141,174 +141,200 @@ public class MatrixSprayStart extends BaseCommandHandler { 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"); } - return runAsync(() -> { - // 3. 设定喷涂参数 - sprayTask.setSprayParam(matrixPathType, motorZHeight, gasPressure, volume, highVoltage, highVoltageValue, spacing, movingSpeed, times, positionList); - sprayTask.setCacheParams(form.getParams()); + if (positionList.isEmpty()) { + webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.ERROR, "喷涂区域不能为空")); + throw new RuntimeException("喷涂区域不能为空"); + } + // 3. 设定喷涂参数 + sprayTask.setSprayParam(matrixPathType, motorZHeight, gasPressure, volume, highVoltage, highVoltageValue, spacing, movingSpeed, times, positionList); + sprayTask.setCacheParams(form.getParams()); - OperationLog operationLog = new OperationLog(); - operationLog.setMatrixInfo(JSONUtil.toJsonStr(sprayTask.getCacheParams())); - operationLogService.add(operationLog); + OperationLog operationLog = new OperationLog(); + operationLog.setMatrixInfo(JSONUtil.toJsonStr(sprayTask.getCacheParams())); + operationLogService.add(operationLog); - // 7.循环喷涂区域 - Position slidePosition1 = positionService.getOne(new LambdaQueryWrapper().eq(Position::getPointCode, "slide_position1")); - Position slidePosition2 = positionService.getOne(new LambdaQueryWrapper().eq(Position::getPointCode, "slide_position2")); - Position slidePosition3 = positionService.getOne(new LambdaQueryWrapper().eq(Position::getPointCode, "slide_position3")); - Position slidePosition4 = positionService.getOne(new LambdaQueryWrapper().eq(Position::getPointCode, "slide_position4")); - Double[][] slideArr = { - {slidePosition1.getX(), slidePosition1.getY()}, - {slidePosition2.getX(), slidePosition2.getY()}, - {slidePosition3.getX(), slidePosition3.getY()}, - {slidePosition4.getX(), slidePosition4.getY()} - }; - for (Map position : positionList) { - int index = (int) position.get("index"); //index 第几个玻片 - Double[] upperLeft = {((Number) position.get("x1")).doubleValue(), ((Number) position.get("y1")).doubleValue()}; //范围左上角 x1，y1 - Double[] lowerRight = {((Number) position.get("x2")).doubleValue(), ((Number) position.get("y2")).doubleValue()}; //范围右下角 x2，y2 - Double[] slide = slideArr[index];//获取玻片的坐标 - //规划路线坐标 - DecimalFormat df = new DecimalFormat("#.##"); - double left = Double.parseDouble(df.format(slide[0] + upperLeft[0])); - double right = Double.parseDouble(df.format(slide[0] + lowerRight[0])); - double top = Double.parseDouble(df.format(slide[1] + upperLeft[1])); - double bottom = Double.parseDouble(df.format(slide[1] + lowerRight[1])); - if ("horizontal".equals(matrixPathType)) {//喷涂路径类型 horizontal 横向 | vertical 纵向 | grid 网格先横向后纵向 - for (int i = 1; i <= times; i++) { - double topReal = top; - double bottomReal = bottom; - double leftReal = left; - double rightReal = right; - if (i % 2 == 0) {//双数喷涂，插空移动边界 - double halfSpacing = spacing / 2; - topReal = top + halfSpacing; - bottomReal = bottomReal - halfSpacing; - leftReal = left + halfSpacing; - rightReal = right - halfSpacing; - } - List pathList = PathGenerator.generatePathPoints( - leftReal, rightReal, topReal, bottomReal, - spacing, - PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN - ); - List> deviceCommandList = new ArrayList<>(); + // 7.循环喷涂区域 + Position slidePosition1 = positionService.getOne(new LambdaQueryWrapper().eq(Position::getPointCode, "slide_position1")); + Position slidePosition2 = positionService.getOne(new LambdaQueryWrapper().eq(Position::getPointCode, "slide_position2")); + Position slidePosition3 = positionService.getOne(new LambdaQueryWrapper().eq(Position::getPointCode, "slide_position3")); + Position slidePosition4 = positionService.getOne(new LambdaQueryWrapper().eq(Position::getPointCode, "slide_position4")); + Double[][] slideArr = { + {slidePosition1.getX(), slidePosition1.getY()}, + {slidePosition2.getX(), slidePosition2.getY()}, + {slidePosition3.getX(), slidePosition3.getY()}, + {slidePosition4.getX(), slidePosition4.getY()} + }; + for (Map position : positionList) { + int index = (int) position.get("index"); //index 第几个玻片 + Double[] upperLeft = {((Number) position.get("x1")).doubleValue(), ((Number) position.get("y1")).doubleValue()}; //范围左上角 x1，y1 + Double[] lowerRight = {((Number) position.get("x2")).doubleValue(), ((Number) position.get("y2")).doubleValue()}; //范围右下角 x2，y2 + Double[] slide = slideArr[index];//获取玻片的坐标 + //规划路线坐标 + DecimalFormat df = new DecimalFormat("#.##"); + double left = Double.parseDouble(df.format(slide[0] + upperLeft[0])); + double right = Double.parseDouble(df.format(slide[0] + lowerRight[0])); + double top = Double.parseDouble(df.format(slide[1] + upperLeft[1])); + double bottom = Double.parseDouble(df.format(slide[1] + lowerRight[1])); + if ("horizontal".equals(matrixPathType)) {//喷涂路径类型 horizontal 横向 | vertical 纵向 | grid 网格先横向后纵向 + for (int i = 1; i <= times; i++) { + double topReal = top; + double bottomReal = bottom; + double leftReal = left; + double rightReal = right; + if (i % 2 == 0) {//双数喷涂，插空移动边界 + double halfSpacing = spacing / 2; + topReal = top + halfSpacing; + bottomReal = bottomReal - halfSpacing; + leftReal = left + halfSpacing; + rightReal = right - halfSpacing; + } + List pathList = PathGenerator.generatePathPoints( + leftReal, rightReal, topReal, bottomReal, + spacing, + PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN + ); + List> deviceCommandList = new ArrayList<>(); - for (int j = 0; j < pathList.size(); j++) { - PathGenerator.Points p = pathList.get(j); - List deviceCommands = new ArrayList<>(); - if (j == pathList.size() - 1) { - deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), 20.0));//移动x轴 - deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), 20.0));//移动y轴 - }else{ - deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), movingSpeed));//移动x轴 - deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), movingSpeed));//移动y轴 - } - deviceCommandList.add(deviceCommands); + for (int j = 0; j < pathList.size(); j++) { + PathGenerator.Points p = pathList.get(j); + List deviceCommands = new ArrayList<>(); + if (j == pathList.size() - 1) { + deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), movingSpeed));//移动x轴 + deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), movingSpeed));//移动y轴 + } else { + deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), movingSpeed));//移动x轴 + deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), movingSpeed));//移动y轴 } + deviceCommandList.add(deviceCommands); + } - SprayTaskStep sprayTaskStep = new SprayTaskStep(); - sprayTaskStep.setIndex(index); - sprayTaskStep.setSpraySteps(deviceCommandList); - sprayTask.getSprayTaskStepList().add(sprayTaskStep); + SprayTaskStep sprayTaskStep = new SprayTaskStep(); + sprayTaskStep.setIndex(index); + sprayTaskStep.setSpraySteps(deviceCommandList); + sprayTask.getSprayTaskStepList().add(sprayTaskStep); + } + } else if ("vertical".equals(matrixPathType)) { + for (int i = 1; i <= times; i++) { + double topReal = top; + double bottomReal = bottom; + double leftReal = left; + double rightReal = right; + if (i % 2 == 0) {//双数喷涂，插空移动边界 + double halfSpacing = spacing / 2; + topReal = top + halfSpacing; + bottomReal = bottomReal - halfSpacing; + leftReal = left + halfSpacing; + rightReal = right - halfSpacing; } - } else if ("vertical".equals(matrixPathType)) { - for (int i = 1; i <= times; i++) { - double topReal = top; - double bottomReal = bottom; - double leftReal = left; - double rightReal = right; - if (i % 2 == 0) {//双数喷涂，插空移动边界 - double halfSpacing = spacing / 2; - topReal = top + halfSpacing; - bottomReal = bottomReal - halfSpacing; - leftReal = left + halfSpacing; - rightReal = right - halfSpacing; - } - List pathList = PathGenerator.generatePathPoints( - leftReal, rightReal, topReal, bottomReal, - spacing, - PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT - ); - List> deviceCommandList = new ArrayList<>(); - for (int j = 0; j < pathList.size(); j++) { - PathGenerator.Points p = pathList.get(j); - List deviceCommands = new ArrayList<>(); - if (j == pathList.size() - 1) { - deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), 20.0));//移动x轴 - deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), 20.0));//移动y轴 - }else{ - deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), movingSpeed));//移动x轴 - deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), movingSpeed));//移动y轴 - } - deviceCommandList.add(deviceCommands); + List pathList = PathGenerator.generatePathPoints( + leftReal, rightReal, topReal, bottomReal, + spacing, + PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT + ); + List> deviceCommandList = new ArrayList<>(); + for (int j = 0; j < pathList.size(); j++) { + PathGenerator.Points p = pathList.get(j); + List deviceCommands = new ArrayList<>(); + if (j == pathList.size() - 1) { + deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), movingSpeed));//移动x轴 + deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), movingSpeed));//移动y轴 + } else { + deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), movingSpeed));//移动x轴 + deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), movingSpeed));//移动y轴 } - SprayTaskStep sprayTaskStep = new SprayTaskStep(); - sprayTaskStep.setIndex(index); - sprayTaskStep.setSpraySteps(deviceCommandList); - sprayTask.getSprayTaskStepList().add(sprayTaskStep); + deviceCommandList.add(deviceCommands); } - } else if ("grid".equals(matrixPathType)) { - for (int i = 1; i <= times; i++) { - double topReal = top; - double bottomReal = bottom; - double leftReal = left; - double rightReal = right; - double halfSpacing = spacing / 2; - if (i % 2 == 0) {//双数喷涂，插空移动边界 - topReal = top + halfSpacing; - bottomReal = bottomReal - halfSpacing; - leftReal = left + halfSpacing; - rightReal = right - halfSpacing; - } - List pathList = PathGenerator.generatePathPoints( - leftReal, rightReal, topReal, bottomReal, - spacing, - PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN - ); - List> deviceCommandList = new ArrayList<>(); - for (int j = 0; j < pathList.size(); j++) { - PathGenerator.Points p = pathList.get(j); - List deviceCommands = new ArrayList<>(); - if (j == pathList.size() - 1) { - deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), 20.0));//移动x轴 - deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), 20.0));//移动y轴 - }else{ - deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), movingSpeed));//移动x轴 - deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), movingSpeed));//移动y轴 - } - deviceCommandList.add(deviceCommands); + SprayTaskStep sprayTaskStep = new SprayTaskStep(); + sprayTaskStep.setIndex(index); + sprayTaskStep.setSpraySteps(deviceCommandList); + sprayTask.getSprayTaskStepList().add(sprayTaskStep); + } + } else if ("grid".equals(matrixPathType)) { + for (int i = 1; i <= times; i++) { + double topReal = top; + double bottomReal = bottom; + double leftReal = left; + double rightReal = right; + double halfSpacing = spacing / 2; + if (i % 2 == 0) {//双数喷涂，插空移动边界 + topReal = top + halfSpacing; + bottomReal = bottomReal - halfSpacing; + leftReal = left + halfSpacing; + rightReal = right - halfSpacing; + } + List pathList = PathGenerator.generatePathPoints( + leftReal, rightReal, topReal, bottomReal, + spacing, + PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN + ); + List> deviceCommandList = new ArrayList<>(); + for (int j = 0; j < pathList.size(); j++) { + PathGenerator.Points p = pathList.get(j); + List deviceCommands = new ArrayList<>(); + if (j == pathList.size() - 1) { + deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), movingSpeed));//移动x轴 + deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), movingSpeed));//移动y轴 + } else { + deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), movingSpeed));//移动x轴 + deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), movingSpeed));//移动y轴 } - SprayTaskStep sprayTaskStep = new SprayTaskStep(); - sprayTaskStep.setIndex(index); - sprayTaskStep.setSpraySteps(deviceCommandList); - sprayTask.getSprayTaskStepList().add(sprayTaskStep); + deviceCommandList.add(deviceCommands); + } + SprayTaskStep sprayTaskStep = new SprayTaskStep(); + sprayTaskStep.setIndex(index); + sprayTaskStep.setSpraySteps(deviceCommandList); + sprayTask.getSprayTaskStepList().add(sprayTaskStep); - pathList = PathGenerator.generatePathPoints( - leftReal, rightReal, topReal, bottomReal, - spacing, - PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT - ); - deviceCommandList = new ArrayList<>(); - for (int j = 0; j < pathList.size(); j++) { - PathGenerator.Points p = pathList.get(j); - List deviceCommands = new ArrayList<>(); - if (j == pathList.size() - 1) { - deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), 20.0));//移动x轴 - deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), 20.0));//移动y轴 - }else{ - deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), movingSpeed));//移动x轴 - deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), movingSpeed));//移动y轴 - } - deviceCommandList.add(deviceCommands); + pathList = PathGenerator.generatePathPoints( + leftReal, rightReal, topReal, bottomReal, + spacing, + PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT + ); + deviceCommandList = new ArrayList<>(); + for (int j = 0; j < pathList.size(); j++) { + PathGenerator.Points p = pathList.get(j); + List deviceCommands = new ArrayList<>(); + if (j == pathList.size() - 1) { + deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), movingSpeed));//移动x轴 + deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), movingSpeed));//移动y轴 + } else { + deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), movingSpeed));//移动x轴 + deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), movingSpeed));//移动y轴 } - SprayTaskStep sprayTaskStep2 = new SprayTaskStep(); - sprayTaskStep2.setIndex(index); - sprayTaskStep2.setSpraySteps(deviceCommandList); - sprayTask.getSprayTaskStepList().add(sprayTaskStep2); + deviceCommandList.add(deviceCommands); } + SprayTaskStep sprayTaskStep2 = new SprayTaskStep(); + sprayTaskStep2.setIndex(index); + sprayTaskStep2.setSpraySteps(deviceCommandList); + sprayTask.getSprayTaskStepList().add(sprayTaskStep2); } + } + } + 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 threeWayValveOpenSyringePipelineCommand = DeviceCommandGenerator.threeWayValveOpenSyringePipeline();//打开三通阀喷嘴管路 + CommandFuture threeWayValveOpenSyringePipelineCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), threeWayValveOpenSyringePipelineCommand); + commandWait(threeWayValveOpenSyringePipelineCommandFuture); + if (sprayTask.getSprayParams().getHighVoltage()) {//加电 + DeviceCommand highVoltageOpenCommand = DeviceCommandGenerator.highVoltageOpen(highVoltageValue);//开启高压 + CommandFuture highVoltageOpenCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), highVoltageOpenCommand); + commandWait(highVoltageOpenCommandFuture); } -// log.info(JSONUtil.toJsonStr(sprayTask.getSprayTaskStepList())); + + DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen();//开启喷嘴阀 + CommandFuture nozzleValveOpenCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), nozzleValveOpenCommand); + commandWait(nozzleValveOpenCommandFuture); + + // 10. 启动喷涂线程，开始喷涂 sprayTaskExecutor.startTask(); webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.SEND, "已开启喷涂线程")); 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 31615d3..60f3429 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 @@ -51,14 +51,14 @@ public class MatrixSprayStop extends BaseCommandHandler { CommandFuture motorZStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZStopCommand); commandWait(motorXStopCommandFuture, motorYStopCommandFuture, motorZStopCommandFuture); - //4.回到原点 - DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(0.0); - DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorYPositionSet(0.0); - DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(0.0); - CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXPositionSetCommand); - CommandFuture motorYPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYPositionSetCommand); - CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZPositionSetCommand); - commandWait(motorXPositionSetCommandFuture, motorYPositionSetCommandFuture, motorZPositionSetCommandFuture); + //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); SprayTask.getInstance().clear(); deviceStatus.setSpraying(false); diff --git a/src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelineWash.java b/src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelineWash.java index 0c6c21a..3087ce2 100644 --- a/src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelineWash.java +++ b/src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelineWash.java @@ -59,17 +59,17 @@ public class NozzlePipelineWash extends BaseCommandHandler { SysSettings safeZHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper().eq(SysSettings::getCode, "safe_z_height")); double safeZHeight = Double.parseDouble(safeZHeightSysSettings.getValue()); if (zAxisPosition > safeZHeight) { //z轴超出安全距离，抬升z轴 - DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(safeZHeight); + DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(safeZHeight, 15.0); CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZPositionSetCommand); commandWait(motorZPositionSetCommandFuture); } Position wasteLiquor = positionService.getOne(new LambdaQueryWrapper().eq(Position::getPointCode, "waste_liquor")); //2.轴移动到废液位置 - DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(wasteLiquor.getX()); + DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(wasteLiquor.getX(), 20.0); CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXPositionSetCommand); commandWait(motorXPositionSetCommandFuture); //3.下降z轴高度，防止飞溅 - DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(wasteLiquor.getZ()); + DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(wasteLiquor.getZ(), 15.0); CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZPositionSetCommand); commandWait(motorZPositionSetCommandFuture); //4.开启三通阀到喷嘴管路 diff --git a/src/main/java/com/qyft/ms/system/common/device/command/DeviceCommandGenerator.java b/src/main/java/com/qyft/ms/system/common/device/command/DeviceCommandGenerator.java index 4b22ec4..d76176f 100644 --- a/src/main/java/com/qyft/ms/system/common/device/command/DeviceCommandGenerator.java +++ b/src/main/java/com/qyft/ms/system/common/device/command/DeviceCommandGenerator.java @@ -316,27 +316,6 @@ public class DeviceCommandGenerator { /** * 移动x轴到指定位置 */ - public static DeviceCommand motorXPositionSet(Double position) { - return motorXPositionSet(position, null, "移动x轴到指定位置"); - } - - /** - * 移动y轴到指定位置 - */ - public static DeviceCommand motorYPositionSet(Double position) { - return motorYPositionSet(position, null, "移动y轴到指定位置"); - } - - /** - * 移动z轴到指定位置 - */ - public static DeviceCommand motorZPositionSet(Double position) { - return motorZPositionSet(position, null, "移动z轴到指定位置"); - } - - /** - * 移动x轴到指定位置 - */ public static DeviceCommand motorXPositionSet(Double position, Double speed) { return motorXPositionSet(position, speed, "移动x轴到指定位置"); }