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fix:喷涂时间校准

master
白凤吉 2 weeks ago
parent
22d3d138a4
commit
3a3d52c290
3 changed files with 114 additions and 148 deletions
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  1. 254
      src/main/java/com/qyft/ms/app/device/spray/SprayTaskExecutor.java
  2. 5
      src/main/java/com/qyft/ms/app/device/status/SprayTask.java
  3. 3
      src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayPause.java

254
src/main/java/com/qyft/ms/app/device/spray/SprayTaskExecutor.java
View File

@ -75,10 +75,7 @@ public class SprayTaskExecutor {
try { try {
webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.START, "喷涂任务开始执行")); webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.START, "喷涂任务开始执行"));
//计算剩余时间 //计算剩余时间
List<Map<String, Object>> finishTimeMap = estimateCompletionTimePerSlide();
FinishTimeWsPushBO finishTimeWsPushBO = new FinishTimeWsPushBO(sprayTask.getCmdId(), sprayTask.getCmdCode(), finishTimeMap);
webSocketService.pushMsg(WebSocketMessageType.SPRAY_TASK_FINISH_TIME, finishTimeWsPushBO);//向前端推送当前路径
sprayTask.setFinishTimeMap(finishTimeMap);
subFinishTime();
List<SprayTaskParams> sprayTaskParams = sprayTask.getSprayTaskParams(); List<SprayTaskParams> sprayTaskParams = sprayTask.getSprayTaskParams();
for (SprayTaskParams sprayTaskParam : sprayTaskParams) {//循环玻片 for (SprayTaskParams sprayTaskParam : sprayTaskParams) {//循环玻片
if (sprayTask.getCurrentIndex() != null && sprayTaskParam.getIndex() <= sprayTask.getCurrentIndex()) {//喷涂过的玻片跳过 if (sprayTask.getCurrentIndex() != null && sprayTaskParam.getIndex() <= sprayTask.getCurrentIndex()) {//喷涂过的玻片跳过
@ -187,6 +184,7 @@ public class SprayTaskExecutor {
sprayNum++; sprayNum++;
sprayTask.setSprayNum(sprayNum); sprayTask.setSprayNum(sprayNum);
sprayTask.setCurrentStep(0); sprayTask.setCurrentStep(0);
subFinishTime();
} }
sprayTask.setCurrentIndex(sprayTaskParam.getIndex()); sprayTask.setCurrentIndex(sprayTaskParam.getIndex());
sprayTask.setSprayNum(0); sprayTask.setSprayNum(0);
@ -199,6 +197,7 @@ public class SprayTaskExecutor {
DeviceCommand nozzleValveCloseCommand = DeviceCommandGenerator.nozzleValveClose();//关闭喷嘴阀 DeviceCommand nozzleValveCloseCommand = DeviceCommandGenerator.nozzleValveClose();//关闭喷嘴阀
CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), nozzleValveCloseCommand); CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), nozzleValveCloseCommand);
commandWait(nozzleValveCloseCommandFuture); commandWait(nozzleValveCloseCommandFuture);
sprayTask.setCannotPause(true);//喷涂完毕后就是回原点了，期间不可暂停
//XYZ回原点 //XYZ回原点
DeviceCommand motorXOriginCommand = DeviceCommandGenerator.motorXOrigin(); DeviceCommand motorXOriginCommand = DeviceCommandGenerator.motorXOrigin();
@ -311,173 +310,132 @@ public class SprayTaskExecutor {
return sprayTaskStepList; return sprayTaskStepList;
} }
public void subFinishTime() {
SprayTask sprayTask = SprayTask.getInstance();
List<Map<String, Object>> finishTimeMap = estimateFinishTimePerSlide();
FinishTimeWsPushBO finishTimeWsPushBO = new FinishTimeWsPushBO(sprayTask.getCmdId(), sprayTask.getCmdCode(), finishTimeMap);
webSocketService.pushMsg(WebSocketMessageType.SPRAY_TASK_FINISH_TIME, finishTimeWsPushBO);//向前端推送当前路径
sprayTask.setFinishTimeMap(finishTimeMap);
}
/** /**
* 返回一个 List，每个元素对应 sprayTaskParams 中每个玻片的预计耗时（毫秒），
* 返回每片的预计完成时间列表（包含 index 与 finishTime）
*/ */
public List<Map<String, Object>> estimateCompletionTimePerSlide() {
SprayTask task = SprayTask.getInstance();
List<SprayTaskParams> params = task.getSprayTaskParams();
int resumeIndex = task.getCurrentIndex() == null ? 0 : task.getCurrentIndex();
int resumeSprayNum = task.getSprayNum();
int resumeStep = task.getCurrentStep();
// ======================= 常量定义 =======================
final long COMMAND_LATENCY_MS = 12L; // 单条命令平均往返耗时(ms)
final double HOME_SPEED_X = 20.0; // X 轴速度(mm/s)——末片回原点/片间移动
final double HOME_SPEED_Y = 20.0; // Y 轴速度(mm/s)
final double HOME_SPEED_Z = 20.0; // Z 轴速度(mm/s)
final long PER_SPRAY_OVERHEAD_MS = 0L; // 每次喷涂后固定延时(ms)
final long TOTAL_JOB_OVERHEAD_MS = 0L; // 全局结束后延时(ms)
final long PIPELINE_DELAY_MS = 500L; // 管路切换延时(ms)
// =======================================================
double slideHeight = Double.parseDouble(
sysSettingsService.getOne(
new LambdaQueryWrapper<SysSettings>()
.eq(SysSettings::getCode, "slide_height"))
.getValue()
);
public List<Map<String, Object>> estimateFinishTimePerSlide() {
SprayTask sprayTask = SprayTask.getInstance();
// ===== 常量 =====
final long CMD_LAT_MS = 12L; // 单条命令往返耗时(ms)
final long PER_OVERHEAD_MS = 0L; // 每次喷涂后附加延时(ms)
final long JOB_OVERHEAD_MS = 0L; // 任务结束后全局延时(ms)
// ================
LocalDateTime startTime = LocalDateTime.now(); LocalDateTime startTime = LocalDateTime.now();
List<Map<String, Object>> finishTimes = new ArrayList<>(); List<Map<String, Object>> finishTimes = new ArrayList<>();
long cumulativeMs = 0L;
// 上一次喷涂结束位置，初始为原点(0,0,0)
double lastX = 0, lastY = 0, lastZ = 0;
for (int i = 0; i < params.size(); i++) {
SprayTaskParams p = params.get(i);
int idx = p.getIndex();
// 已完成玻片直接记录并跳过
if (idx < resumeIndex) {
Map<String, Object> rec = new HashMap<>();
rec.put("index", idx);
rec.put("finishTime", startTime.plus(Duration.ofMillis(cumulativeMs)));
finishTimes.add(rec);
List<SprayTaskParams> sprayTaskParams = sprayTask.getSprayTaskParams();
double curX = 0, curY = 0, curZ = 0;//定义当前位置
for (SprayTaskParams sprayTaskParam : sprayTaskParams) {//循环玻片
if (sprayTask.getCurrentIndex() != null && sprayTaskParam.getIndex() <= sprayTask.getCurrentIndex()) {//喷涂过的玻片跳过
continue; continue;
} }
long sliceMs = 0L;
Double[] slide = slideArr[idx];
SprayTimes firstT = p.getTimes().get(0);
// 1) 并行移动到喷涂起点(X,Y,Z)，暂停恢复时跳过
boolean isResumeSlide = (idx == resumeIndex && resumeStep > 0);
double curX, curY, curZ;
if (!isResumeSlide) {
double targetZ = slideHeight - firstT.getMotorZHeight();
sliceMs += concurrentMoveMs(
lastX, slide[0], firstT.getMovingSpeed(),
lastY, slide[1], firstT.getMovingSpeed(),
lastZ, targetZ, 20,
COMMAND_LATENCY_MS
);
curX = slide[0];
curY = slide[1];
curZ = targetZ;
} else {
// 恢复喷涂，无需移动到玻片顶点
curX = lastX;
curY = lastY;
curZ = lastZ;
}
// 2) 管路切换 & 等待
boolean switched = (idx == resumeIndex && resumeSprayNum > 1);
if (!switched) {
sliceMs += COMMAND_LATENCY_MS + PIPELINE_DELAY_MS;
}
// 3) 喷涂循环
int sprayCount = 1;
for (SprayTimes t : p.getTimes()) {
// 跳过已完成轮次
if (idx == resumeIndex && sprayCount < resumeSprayNum) {
if ("grid".equals(t.getMatrixPathType())) sprayCount++;
sprayCount++;
long sliceMs = 0L; //当前玻片耗时
int sprayNum = 1; //当前玻片是第几次喷涂
for (SprayTimes sprayTimes : sprayTaskParam.getTimes()) {//每个拨片有多次喷涂，循环每次喷涂
if (sprayNum < sprayTask.getSprayNum()) {
sprayNum++;
continue; continue;
} }
// 指令开销
sliceMs += COMMAND_LATENCY_MS * 3;
if (t.getHighVoltage()) sliceMs += COMMAND_LATENCY_MS * 2;
// 路径移动（串行），跳过 resumeStep
int skip = (idx == resumeIndex && sprayCount == resumeSprayNum) ? resumeStep : 0;
for (SprayTaskStep step : getSprayPath(t)) {
for (Point2D pt : step.getSprayPathPointList()) {
if (skip-- > 0) continue;
double nx = slide[0] + pt.getX();
double ny = slide[1] + pt.getY();
sliceMs += moveMs(curX, nx, t.getMovingSpeed(), COMMAND_LATENCY_MS);
curX = nx;
sliceMs += moveMs(curY, ny, t.getMovingSpeed(), COMMAND_LATENCY_MS);
curY = ny;
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
if (sprayTask.getCurrentStep() == 0) {
//先移动到玻片左上角位置
SysSettings slideHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper<SysSettings>().eq(SysSettings::getCode, "slide_height"));
Double slideHeight = Double.parseDouble(slideHeightSysSettings.getValue());
double height = slideHeight - sprayTimes.getMotorZHeight();//下降z轴高度
sliceMs += concurrentMoveMs(
curX, slideArr[sprayTaskParam.getIndex()][0], 20,
curY, slideArr[sprayTaskParam.getIndex()][1], 20,
curZ, height, 20,
CMD_LAT_MS
);
curX = slideArr[sprayTaskParam.getIndex()][0];
curY = slideArr[sprayTaskParam.getIndex()][1];
curZ = height;
}
sliceMs += CMD_LAT_MS + 500;//三通阀切换到注射器管路
//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 (currentStep >= sprayTask.getCurrentStep()) {
sliceMs += CMD_LAT_MS;//开启喷嘴阀
sliceMs += CMD_LAT_MS;//推动移动注射泵
if (sprayTimes.getHighVoltage()) {//加电
sliceMs += CMD_LAT_MS;//开启高压
}
} }
// 结束阀门 & 网格延时
sliceMs += COMMAND_LATENCY_MS * 3;
if ("grid".equals(t.getMatrixPathType()) && t.getGridDelay() != null) {
sliceMs += t.getGridDelay() * 1000;
for (int i = 0; i < sprayTaskStep.getSprayPathPointList().size(); i++) {//循环路线
if (currentStep < sprayTask.getCurrentStep()) {
currentStep++;
continue;
}
Point2D currentPoint = sprayTaskStep.getSprayPathPointList().get(i);
if (cacheXPoint != currentPoint.x) {
sliceMs += moveMs(curX, slide[0] + currentPoint.x, sprayTimes.getMovingSpeed(), CMD_LAT_MS);
cacheXPoint = currentPoint.x;
curX = slide[0] + currentPoint.x;
}
if (cacheYPoint != currentPoint.y) {
sliceMs += moveMs(curY, slide[1] + currentPoint.y, sprayTimes.getMovingSpeed(), CMD_LAT_MS);
cacheYPoint = currentPoint.y;
curY = slide[1] + currentPoint.y;
}
sliceMs += CMD_LAT_MS * 3;//向前端推送当前路径
currentStep++;//当前喷涂步数。因为暂停可能本次路线还没走完，所以这里只有在走完一次路线后才会自增
}
//一次喷涂完毕后停止推注射泵
sliceMs += CMD_LAT_MS; //关闭高压
sliceMs += CMD_LAT_MS; //停止推动注射泵
sliceMs += CMD_LAT_MS; //关闭喷嘴阀
if ("grid".equals(sprayTimes.getMatrixPathType()) && sprayTimes.getGridDelay() != null) {
if(sprayTask.getRemainingGridDelay() != null){
sliceMs += sprayTask.getRemainingGridDelay();
}else{
sliceMs += sprayTimes.getGridDelay() * 1000;
}
} }
} }
// 喷涂后延时 & 附加
sliceMs += t.getDelay() * 1000;
sliceMs += PER_SPRAY_OVERHEAD_MS;
sprayCount++;
}
// 4) 片尾：非末片更新 last 位置；末片并行回原点 + 全局延时
if (i < params.size() - 1) {
lastX = curX;
lastY = curY;
lastZ = curZ;
} else {
sliceMs += concurrentMoveMs(
curX, 0.0, HOME_SPEED_X,
curY, 0.0, HOME_SPEED_Y,
curZ, 0.0, HOME_SPEED_Z,
COMMAND_LATENCY_MS
);
sliceMs += TOTAL_JOB_OVERHEAD_MS;
lastX = lastY = lastZ = 0.0;
if(sprayTask.getRemainingDelay() != null){
sliceMs += sprayTask.getRemainingDelay();
}else{
sliceMs += sprayTimes.getDelay() * 1000;
}
sprayNum++;
} }
// 累计并记录完成时间
cumulativeMs += sliceMs;
Map<String, Object> rec = new HashMap<>(); Map<String, Object> rec = new HashMap<>();
rec.put("index", idx);
rec.put("finishTime", startTime.plus(Duration.ofMillis(cumulativeMs)));
rec.put("index", sprayTaskParam.getIndex());
rec.put("finishTime", startTime.plus(Duration.ofMillis(sliceMs)));
finishTimes.add(rec); finishTimes.add(rec);
} }
return finishTimes; return finishTimes;
} }
/**
* 计算单轴移动耗时 + 指令平均延迟
*
* @param from 起始坐标 (mm)
* @param to 目标坐标 (mm)
* @param speed 运动速度 (mm/s)
* @param cmdDelay 每条指令往返延迟 (ms)
*/
private long moveMs(double from, double to, double speed, long cmdDelay) {
double dist = Math.abs(to - from);
return (long) (dist / speed * 1000) + cmdDelay;
private long moveMs(double from, double to, double speed, long cmdDelayMs) {
return (long) (Math.abs(to - from) / speed * 1000) + cmdDelayMs;
} }
/**
* 并行移动 XYZ：各轴耗时取最大值；包含单轴指令延迟
*/
private long concurrentMoveMs( private long concurrentMoveMs(
double fromX, double toX, double speedX,
double fromY, double toY, double speedY,
double fromZ, double toZ, double speedZ,
long cmdDelayMs) {
long tx = moveMs(fromX, toX, speedX, cmdDelayMs);
long ty = moveMs(fromY, toY, speedY, cmdDelayMs);
long tz = moveMs(fromZ, toZ, speedZ, cmdDelayMs);
return Math.max(tx, Math.max(ty, tz));
double fx, double tx, double sx,
double fy, double ty, double sy,
double fz, double tz, double sz,
long cmd) {
long x = moveMs(fx, tx, sx, cmd);
long y = moveMs(fy, ty, sy, cmd);
long z = moveMs(fz, tz, sz, cmd);
return Math.max(x, Math.max(y, z));
} }

5
src/main/java/com/qyft/ms/app/device/status/SprayTask.java
View File

@ -74,6 +74,10 @@ public class SprayTask {
*/ */
private volatile boolean paused = false; private volatile boolean paused = false;
/** /**
* 当前设备状态是否可以暂停
*/
private volatile boolean cannotPause = false;
/**
* 标志喷涂任务结束 * 标志喷涂任务结束
*/ */
private volatile boolean close = false; private volatile boolean close = false;
@ -96,6 +100,7 @@ public class SprayTask {
cmdId = null; cmdId = null;
cmdCode = null; cmdCode = null;
paused = false; paused = false;
cannotPause = false;
close = false; close = false;
spraying = false; spraying = false;
currentStep = 0; currentStep = 0;

3
src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayPause.java
View File

@ -41,6 +41,9 @@ public class MatrixSprayPause extends BaseCommandHandler {
if(sprayTask.isPaused()){ if(sprayTask.isPaused()){
throw new RuntimeException("设备暂停中"); throw new RuntimeException("设备暂停中");
} }
if (sprayTask.isCannotPause()) {
throw new RuntimeException("当前喷涂任务不可暂停");
}
sprayTask.setPaused(true);//设置已暂停 sprayTask.setPaused(true);//设置已暂停
try { try {
sprayTaskExecutor.stopTask();//终止喷涂任务线程 sprayTaskExecutor.stopTask();//终止喷涂任务线程

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