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 a81a8e9..851b4d8 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 @@ -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().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); 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 791ecf6..1513a1f 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 @@ -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 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().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); 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 78b51e8..ce3cc53 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 @@ -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().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 diff --git a/src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelinePreFill.java b/src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelinePreFill.java index 2c8d8b9..6626e2e 100644 --- a/src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelinePreFill.java +++ b/src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelinePreFill.java @@ -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 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().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().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 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 48971f8..386136c 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 @@ -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 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().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().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 diff --git a/src/main/java/com/qyft/ms/app/front/cmd/business/SyringePipelineWash.java b/src/main/java/com/qyft/ms/app/front/cmd/business/SyringePipelineWash.java index 288b197..3a4015b 100644 --- a/src/main/java/com/qyft/ms/app/front/cmd/business/SyringePipelineWash.java +++ b/src/main/java/com/qyft/ms/app/front/cmd/business/SyringePipelineWash.java @@ -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 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().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().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 diff --git a/src/main/java/com/qyft/ms/app/model/entity/Position.java b/src/main/java/com/qyft/ms/app/model/entity/Position.java index 17a927c..63aad8f 100644 --- a/src/main/java/com/qyft/ms/app/model/entity/Position.java +++ b/src/main/java/com/qyft/ms/app/model/entity/Position.java @@ -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; diff --git a/src/main/java/com/qyft/ms/app/service/ISysSettingsService.java b/src/main/java/com/qyft/ms/app/service/SysSettingsService.java similarity index 87% rename from src/main/java/com/qyft/ms/app/service/ISysSettingsService.java rename to src/main/java/com/qyft/ms/app/service/SysSettingsService.java index 87496fa..1fd0c65 100644 --- a/src/main/java/com/qyft/ms/app/service/ISysSettingsService.java +++ b/src/main/java/com/qyft/ms/app/service/SysSettingsService.java @@ -10,7 +10,7 @@ import java.util.Map; /** * 系统配置接口层 */ -public interface ISysSettingsService extends IService { +public interface SysSettingsService extends IService { List getSlidePositionList(); diff --git a/src/main/java/com/qyft/ms/app/service/impl/ISysSettingsServiceImpl.java b/src/main/java/com/qyft/ms/app/service/impl/SysSettingsServiceImpl.java similarity index 90% rename from src/main/java/com/qyft/ms/app/service/impl/ISysSettingsServiceImpl.java rename to src/main/java/com/qyft/ms/app/service/impl/SysSettingsServiceImpl.java index c8f43f3..5a95fb9 100644 --- a/src/main/java/com/qyft/ms/app/service/impl/ISysSettingsServiceImpl.java +++ b/src/main/java/com/qyft/ms/app/service/impl/SysSettingsServiceImpl.java @@ -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 implements ISysSettingsService { +public class SysSettingsServiceImpl extends ServiceImpl implements SysSettingsService { private final SysSettingsMapper sysSettingsMapper; // 玻片位置 @Getter diff --git a/src/main/resources/sql/init.sql b/src/main/resources/sql/init.sql index 81b633d..365734e 100644 --- a/src/main/resources/sql/init.sql +++ b/src/main/resources/sql/init.sql @@ -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);