baifengji
/
matrix-spray-v2
1
0
Fork 0
Code Issues Pull Requests Projects Releases 1 Wiki Activity
Browse Source

fix:常量值可配置

tags/1.0
白凤吉 5 months ago
parent
616f6a2f27
commit
2ec09cbf6b
12 changed files with 174 additions and 123 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 9
      src/main/java/com/qyft/ms/app/device/spray/SprayTaskExecutor.java
  2. 8
      src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayChangeParam.java
  3. 25
      src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayStart.java
  4. 18
      src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelinePreFill.java
  5. 18
      src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelineWash.java
  6. 18
      src/main/java/com/qyft/ms/app/front/cmd/business/SyringePipelineWash.java
  7. 4
      src/main/java/com/qyft/ms/app/model/entity/Position.java
  8. 2
      src/main/java/com/qyft/ms/app/service/SysSettingsService.java
  9. 5
      src/main/java/com/qyft/ms/app/service/impl/SysSettingsServiceImpl.java
  10. 4
      src/main/resources/sql/init.sql

9
src/main/java/com/qyft/ms/app/device/spray/SprayTaskExecutor.java
View File

@ -1,9 +1,12 @@
package com.qyft.ms.app.device.spray;
import cn.hutool.json.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.qyft.ms.app.common.constant.WebSocketMessageType;
import com.qyft.ms.app.device.status.SprayTask;
import com.qyft.ms.app.model.bo.Point2D;
import com.qyft.ms.app.model.entity.SysSettings;
import com.qyft.ms.app.service.SysSettingsService;
import com.qyft.ms.system.common.device.command.CommandFuture;
import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
import com.qyft.ms.system.model.bo.DeviceCommand;
@ -25,6 +28,7 @@ public class SprayTaskExecutor {
private final WebSocketService webSocketService;
private final DeviceCommandService deviceCommandService;
private final SprayTaskPointCollector sprayTaskPointCollector;
private final SysSettingsService sysSettingsService;
private Thread taskThread;
@ -49,8 +53,9 @@ public class SprayTaskExecutor {
CommandFuture motorYPositionSetCommandFuture = deviceCommandService.sendCommand(motorYPositionSetCommand);
CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(motorZPositionSetCommand);
commandWait(motorXPositionSetCommandFuture, motorYPositionSetCommandFuture, motorZPositionSetCommandFuture);
Double height = 101.2 - sprayTask.getSprayParams().getMotorZHeight();//TODO 101.2是玻片高度，这个应该从数据库中获取
SysSettings slideHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper<SysSettings>().eq(SysSettings::getCode, "slide_height"));
Double slideHeight = Double.parseDouble(slideHeightSysSettings.getValue());
Double height = slideHeight - sprayTask.getSprayParams().getMotorZHeight();
DeviceCommand motorZPositionSetAboveSlideCommand = DeviceCommandGenerator.motorZPositionSet(height);
CommandFuture motorZPositionSetAboveSlideCommandFuture = deviceCommandService.sendCommand(motorZPositionSetAboveSlideCommand);
commandWait(motorZPositionSetAboveSlideCommandFuture);

8
src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayChangeParam.java
View File

@ -1,6 +1,9 @@
package com.qyft.ms.app.front.cmd.business;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.qyft.ms.app.device.status.SprayTask;
import com.qyft.ms.app.model.entity.SysSettings;
import com.qyft.ms.app.service.SysSettingsService;
import com.qyft.ms.system.common.annotation.CommandMapping;
import com.qyft.ms.system.common.device.command.CommandFuture;
import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
@ -25,6 +28,7 @@ import java.util.concurrent.CompletableFuture;
public class MatrixSprayChangeParam extends BaseCommandHandler {
private final DeviceCommandService deviceCommandService;
private final SysSettingsService sysSettingsService;
@Override
public CompletableFuture<Void> handle(FrontCmdControlForm form, ResponseBodyEmitter emitter) {
@ -51,7 +55,9 @@ public class MatrixSprayChangeParam extends BaseCommandHandler {
CommandFuture syringePumpVolumeSetCommandFuture = deviceCommandService.sendCommand(syringePumpVolumeSetCommand, form, emitter);
commandWait(syringePumpVolumeSetCommandFuture);
//3.z轴高度
Double height = 101.2 - motorZHeight;//TODO 101.2是玻片高度，这个应该从数据库中获取
SysSettings slideHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper<SysSettings>().eq(SysSettings::getCode, "slide_height"));
Double slideHeight = Double.parseDouble(slideHeightSysSettings.getValue());
Double height = slideHeight - motorZHeight;
DeviceCommand smotorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(height);//移动z轴到指定位置
CommandFuture smotorZPositionSetCommandFuture = deviceCommandService.sendCommand(smotorZPositionSetCommand, form, emitter);
commandWait(smotorZPositionSetCommandFuture);

25
src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayStart.java
View File

@ -1,11 +1,13 @@
package com.qyft.ms.app.front.cmd.business;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.qyft.ms.app.common.generator.PathGenerator;
import com.qyft.ms.app.device.spray.SprayTaskExecutor;
import com.qyft.ms.app.device.status.SprayTask;
import com.qyft.ms.app.model.entity.Position;
import com.qyft.ms.app.service.PositionService;
import com.qyft.ms.system.common.annotation.CommandMapping;
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.DeviceCommandGenerator;
import com.qyft.ms.system.common.device.command.FrontCommand;
import com.qyft.ms.system.common.utils.CheckedRunnable;
@ -13,14 +15,12 @@ import com.qyft.ms.system.common.utils.LambdaUtil;
import com.qyft.ms.system.core.handler.BaseCommandHandler;
import com.qyft.ms.system.model.bo.DeviceCommand;
import com.qyft.ms.system.model.form.FrontCmdControlForm;
import com.qyft.ms.system.service.device.DeviceCommandService;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.http.MediaType;
import org.springframework.stereotype.Component;
import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
import java.awt.*;
import java.io.IOException;
import java.util.ArrayList;
import java.util.LinkedHashMap;
@ -41,7 +41,8 @@ public class MatrixSprayStart extends BaseCommandHandler {
private static final ExecutorService singleExecutor = Executors.newSingleThreadExecutor();
private final SprayTaskExecutor sprayTaskExecutor;
private final DeviceCommandService deviceCommandService;
private final PositionService positionService;
private static boolean nonNullCheck(ResponseBodyEmitter emitter, String cmdId, String cmdCode,
String matrixPathType,
@ -132,13 +133,17 @@ public class MatrixSprayStart extends BaseCommandHandler {
sprayTask.setSprayParam(matrixPathType, motorZHeight, gasPressure, volume, highVoltage, highVoltageValue, spacing, movingSpeed, times, positionList);
// 7.循环喷涂区域
Double[][] slideArr = { //TODO 每个玻片的位置，应当从数据库获取
{18.08, 0.0},
{45.08, 0.0},
{72.08, 0.0},
{99.08, 0.0}
};
Position slidePosition1 = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "slide_position1"));
Position slidePosition2 = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "slide_position2"));
Position slidePosition3 = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "slide_position3"));
Position slidePosition4 = positionService.getOne(new LambdaQueryWrapper<Position>().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<String, Object> 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

18
src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelinePreFill.java
View File

@ -1,6 +1,11 @@
package com.qyft.ms.app.front.cmd.business;
import cn.hutool.json.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.qyft.ms.app.model.entity.Position;
import com.qyft.ms.app.model.entity.SysSettings;
import com.qyft.ms.app.service.PositionService;
import com.qyft.ms.app.service.SysSettingsService;
import com.qyft.ms.system.common.annotation.CommandMapping;
import com.qyft.ms.system.common.constant.CommandStatus;
import com.qyft.ms.system.common.device.command.CommandFuture;
@ -28,6 +33,8 @@ import java.util.concurrent.CompletableFuture;
public class NozzlePipelinePreFill extends BaseCommandHandler {
private final DeviceCommandService deviceCommandService;
private final SysSettingsService sysSettingsService;
private final PositionService positionService;
@Override
public CompletableFuture<Void> handle(FrontCmdControlForm form, ResponseBodyEmitter emitter) {
@ -47,17 +54,20 @@ public class NozzlePipelinePreFill extends BaseCommandHandler {
emitter.send(FrontCommand.backstage(form.getCmdId(), form.getCmdCode(), CommandStatus.ERROR, "获得电机XYZ相对原点坐标失败", motorXyzPositionGetCommandDeviceResult), MediaType.APPLICATION_JSON);
return;
}
if (zAxisPosition > 80) { //z轴超出安全距离，抬升z轴 //TODO安全距离应该可配置
DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(80.0, speed);
SysSettings safeZHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper<SysSettings>().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, speed);
CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(motorZPositionSetCommand, form, emitter);
commandWait(motorZPositionSetCommandFuture);
}
Position wasteLiquor = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "waste_liquor"));
//3.x轴移动到废液位置
DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(173.08, speed);
DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(wasteLiquor.getX(), speed);
CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommand(motorXPositionSetCommand, form, emitter);
commandWait(motorXPositionSetCommandFuture);
//4.下降z轴高度，防止飞溅
DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(70.0, speed);
DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(wasteLiquor.getZ(), speed);
CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(motorZPositionSetCommand, form, emitter);
commandWait(motorZPositionSetCommandFuture);
//5.打开三通阀注射器管路

18
src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelineWash.java
View File

@ -1,6 +1,11 @@
package com.qyft.ms.app.front.cmd.business;
import cn.hutool.json.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.qyft.ms.app.model.entity.Position;
import com.qyft.ms.app.model.entity.SysSettings;
import com.qyft.ms.app.service.PositionService;
import com.qyft.ms.app.service.SysSettingsService;
import com.qyft.ms.system.common.annotation.CommandMapping;
import com.qyft.ms.system.common.constant.CommandStatus;
import com.qyft.ms.system.common.device.command.CommandFuture;
@ -28,6 +33,8 @@ import java.util.concurrent.CompletableFuture;
public class NozzlePipelineWash extends BaseCommandHandler {
private final DeviceCommandService deviceCommandService;
private final SysSettingsService sysSettingsService;
private final PositionService positionService;
@Override
public CompletableFuture<Void> handle(FrontCmdControlForm form, ResponseBodyEmitter emitter) {
@ -42,17 +49,20 @@ public class NozzlePipelineWash extends BaseCommandHandler {
emitter.send(FrontCommand.backstage(form.getCmdId(), form.getCmdCode(), CommandStatus.ERROR, "获得电机XYZ相对原点坐标失败", motorXyzPositionGetCommandDeviceResult), MediaType.APPLICATION_JSON);
return;
}
if (zAxisPosition > 80) { //z轴超出安全距离，抬升z轴 //TODO安全距离应该可配置
DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(80.0);
SysSettings safeZHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper<SysSettings>().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);
CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(motorZPositionSetCommand, form, emitter);
commandWait(motorZPositionSetCommandFuture);
}
Position wasteLiquor = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "waste_liquor"));
//2.轴移动到废液位置
DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(173.08);
DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(wasteLiquor.getX());
CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommand(motorXPositionSetCommand, form, emitter);
commandWait(motorXPositionSetCommandFuture);
//3.下降z轴高度，防止飞溅
DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(70.0);
DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(wasteLiquor.getZ());
CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(motorZPositionSetCommand, form, emitter);
commandWait(motorZPositionSetCommandFuture);
//4.开启三通阀到喷嘴管路

18
src/main/java/com/qyft/ms/app/front/cmd/business/SyringePipelineWash.java
View File

@ -1,6 +1,11 @@
package com.qyft.ms.app.front.cmd.business;
import cn.hutool.json.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.qyft.ms.app.model.entity.Position;
import com.qyft.ms.app.model.entity.SysSettings;
import com.qyft.ms.app.service.PositionService;
import com.qyft.ms.app.service.SysSettingsService;
import com.qyft.ms.system.common.annotation.CommandMapping;
import com.qyft.ms.system.common.constant.CommandStatus;
import com.qyft.ms.system.common.device.command.CommandFuture;
@ -28,6 +33,8 @@ import java.util.concurrent.CompletableFuture;
public class SyringePipelineWash extends BaseCommandHandler {
private final DeviceCommandService deviceCommandService;
private final SysSettingsService sysSettingsService;
private final PositionService positionService;
@Override
public CompletableFuture<Void> handle(FrontCmdControlForm form, ResponseBodyEmitter emitter) {
@ -47,17 +54,20 @@ public class SyringePipelineWash extends BaseCommandHandler {
emitter.send(FrontCommand.backstage(form.getCmdId(), form.getCmdCode(), CommandStatus.ERROR, "获得电机XYZ相对原点坐标失败", motorXyzPositionGetCommandDeviceResult), MediaType.APPLICATION_JSON);
return;
}
if (zAxisPosition > 80) { //z轴超出安全距离，抬升z轴 //TODO安全距离应该可配置
DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(80.0, speed);
SysSettings safeZHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper<SysSettings>().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, speed);
CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(motorZPositionSetCommand, form, emitter);
commandWait(motorZPositionSetCommandFuture);
}
Position wasteLiquor = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "waste_liquor"));
//3.x轴移动到废液位置
DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(173.08, speed);
DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(wasteLiquor.getX(), speed);
CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommand(motorXPositionSetCommand, form, emitter);
commandWait(motorXPositionSetCommandFuture);
//4.下降z轴高度，防止飞溅
DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(70.0, speed);
DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(wasteLiquor.getZ(), speed);
CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(motorZPositionSetCommand, form, emitter);
commandWait(motorZPositionSetCommandFuture);
//5.打开三通阀注射器管路

4
src/main/java/com/qyft/ms/app/model/entity/Position.java
View File

@ -17,6 +17,10 @@ public class Position extends BaseEntity {
private String pointName;
@NotBlank
@Schema(description = "code")
private String pointCode;
@NotBlank
@Schema(description = "x")
private Double x;

2
src/main/java/com/qyft/ms/app/service/ISysSettingsService.java → src/main/java/com/qyft/ms/app/service/SysSettingsService.java
View File

@ -10,7 +10,7 @@ import java.util.Map;
/**
* 系统配置接口层
*/
public interface ISysSettingsService extends IService<SysSettings> {
public interface SysSettingsService extends IService<SysSettings> {
List<SysSettings> getSlidePositionList();

5
src/main/java/com/qyft/ms/app/service/impl/ISysSettingsServiceImpl.java → src/main/java/com/qyft/ms/app/service/impl/SysSettingsServiceImpl.java
View File

@ -4,8 +4,7 @@ import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import com.qyft.ms.app.mapper.SysSettingsMapper;
import com.qyft.ms.app.model.entity.SysSettings;
import com.qyft.ms.app.service.ISysSettingsService;
import jakarta.annotation.PostConstruct;
import com.qyft.ms.app.service.SysSettingsService;
import lombok.Getter;
import lombok.RequiredArgsConstructor;
import org.springframework.stereotype.Service;
@ -18,7 +17,7 @@ import java.util.Map;
*/
@Service
@RequiredArgsConstructor
public class ISysSettingsServiceImpl extends ServiceImpl<SysSettingsMapper, SysSettings> implements ISysSettingsService {
public class SysSettingsServiceImpl extends ServiceImpl<SysSettingsMapper, SysSettings> implements SysSettingsService {
private final SysSettingsMapper sysSettingsMapper;
// 玻片位置
@Getter

4
src/main/resources/sql/init.sql
View File

@ -64,7 +64,9 @@ VALUES (1, NULL, '电机电流', 'current', NULL),
(5, NULL, '电机运行速度', 'speed', NULL),
(6, 5, 'x轴速度', 'x_speed', 10),
(7, 5, 'y轴速度', 'y_speed', 10),
(8, 5, 'z轴速度', 'z_speed', 10);
(8, 5, 'z轴速度', 'z_speed', 10),
(9, NULL, '玻片高度', 'slide_height', 101.2),
(10, NULL, 'z轴安全高度', 'safe_z_height', 80);

Write Preview
Loading…
Cancel
Save