fix:动态支持喷涂参数设置

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

@@ -79,7 +79,7 @@ public class SprayTaskExecutor {
                 int sprayNum = 1;
                 int currentIndex = 0;
                 for (SprayTaskStep sprayTaskStep : sprayTask.getSprayTaskStepList()) {//循环进行多次喷涂
-                    if(!sprayTask.isFirstImmobility()){
+                    if (!sprayTask.isFirstImmobility()) {
                         //先移动到玻片位置
                         DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(slideArr[sprayTaskStep.getIndex()][0], 20.0);
                         DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorYPositionSet(75.5 - slideArr[sprayTaskStep.getIndex()][1], 20.0);
@@ -92,13 +92,11 @@ public class SprayTaskExecutor {
                         DeviceCommand motorZPositionSetAboveSlideCommand = DeviceCommandGenerator.motorZPositionSet(height, 15.0);
                         CommandFuture motorZPositionSetAboveSlideCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZPositionSetAboveSlideCommand);
                         commandWait(motorXPositionSetCommandFuture, motorYPositionSetCommandFuture, motorZPositionSetAboveSlideCommandFuture);
-                    }else{
-                        sprayTask.setFirstImmobility(false);
-                    }
 
-                    DeviceCommand syringePumpForwardCommand = DeviceCommandGenerator.syringePumpForward(sprayTask.getSprayParams().getVolume());//推动移动注射泵
-                    CommandFuture syringePumpForwardCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpForwardCommand);
-                    commandWait(syringePumpForwardCommandFuture);
+                        DeviceCommand syringePumpForwardCommand = DeviceCommandGenerator.syringePumpForward(sprayTask.getSprayParams().getVolume());//推动移动注射泵
+                        CommandFuture syringePumpForwardCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpForwardCommand);
+                        commandWait(syringePumpForwardCommandFuture);
+                    }
                     Thread.sleep(100);
                     sprayTask.setSuspendable(true);//可以暂停，单次喷涂范围内可以进行暂停
                     deviceStatus.setSuspendable(true);
@@ -107,7 +105,7 @@ public class SprayTaskExecutor {
                     DecimalFormat df = new DecimalFormat("#.##");
 
                     for (int i = 0; i < sprayTaskStep.getSpraySteps().size(); i++) {//单次喷涂
-                        if(currentIndex != sprayTaskStep.getIndex()) {
+                        if (currentIndex != sprayTaskStep.getIndex()) {
                             sprayNum = 0;
                             currentIndex = sprayTaskStep.getIndex();
                         }
@@ -115,6 +113,7 @@ public class SprayTaskExecutor {
                             currentStep++;
                             continue;
                         }
+                        sprayTask.setFirstImmobility(false);
                         List<DeviceCommand> sprayStepCommands = sprayTaskStep.getSpraySteps().get(i);
                         DeviceCommand xSprayStepCommands = sprayStepCommands.get(0);
                         xSprayStepCommands.getParam().put("speed", sprayTask.getSprayParams().getMovingSpeed());//防止修改了移动速度这里重新设置移动速度

src/main/java/com/qyft/ms/app/front/cmd/DemoCommand.java

@@ -30,24 +30,29 @@ public class DemoCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(FrontCmdControlForm form) {
         return runAsync(() -> {
-            DeviceCommand motorXOriginCommand = DeviceCommandGenerator.motorXOrigin();//x轴回原点
-            DeviceCommand motorYOriginCommand = DeviceCommandGenerator.motorXOrigin();//y轴回原点
+//            DeviceCommand motorXOriginCommand = DeviceCommandGenerator.motorXOrigin();//x轴回原点
+//            DeviceCommand motorYOriginCommand = DeviceCommandGenerator.motorXOrigin();//y轴回原点
+//
+//            CommandFuture motorXOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXOriginCommand);
+//            CommandFuture motorYOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYOriginCommand);
+//
+//            commandWait(motorXOriginCommandFuture, motorYOriginCommandFuture);
+//
+//
+//            DeviceCommand motorXyzPositionGetCommand = DeviceCommandGenerator.motorXyzPositionGet();//获得电机XYZ相对原点坐标
+//
+//            CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXyzPositionGetCommand);
+//
+//            commandWait(motorXyzPositionGetCommandFuture);
+//
+//            JSONObject responseResultJson = motorXyzPositionGetCommandFuture.getResponseResult();
+//
+//            webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_ERROR, "参数XXX必填"));
+            Double volume = form.getDoubleParam("volume");
+            DeviceCommand syringePumpStartCommand = DeviceCommandGenerator.syringePumpVolumeSet(volume); // 生成移动注射泵指令
+            CommandFuture syringePumpStartCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpStartCommand);
+            commandWait(syringePumpStartCommandFuture);
 
-            CommandFuture motorXOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXOriginCommand);
-            CommandFuture motorYOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYOriginCommand);
-
-            commandWait(motorXOriginCommandFuture, motorYOriginCommandFuture);
-
-
-            DeviceCommand motorXyzPositionGetCommand = DeviceCommandGenerator.motorXyzPositionGet();//获得电机XYZ相对原点坐标
-
-            CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXyzPositionGetCommand);
-
-            commandWait(motorXyzPositionGetCommandFuture);
-
-            JSONObject responseResultJson = motorXyzPositionGetCommandFuture.getResponseResult();
-
-            webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_ERROR, "参数XXX必填"));
         });
 
     }

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

@@ -36,6 +36,10 @@ public class MatrixSprayChangeParam extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(FrontCmdControlForm form) {
         SprayTask sprayTask = SprayTask.getInstance();
+        if (!sprayTask.isSpraying()) {//判断设备是否正在喷涂
+            webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_ERROR, "未开始喷涂无法修改"));
+            throw new RuntimeException("未开始喷涂无法修改");
+        }
         Double motorZHeight = form.getDoubleParam("motorZHeight");
         Double gasPressure = form.getDoubleParam("gasPressure");
         Double volume = form.getDoubleParam("volume");
@@ -51,6 +55,19 @@ public class MatrixSprayChangeParam extends BaseCommandHandler {
         sprayTask.setChangeSprayParam(motorZHeight, gasPressure, volume, highVoltage, highVoltageValue, movingSpeed);
 
         return runAsync(() -> {
+            if (!sprayTask.isPaused()) {
+                //4.是否打开高压
+                if (highVoltage) {//打开高压
+                    DeviceCommand highVoltageOpenCommand = DeviceCommandGenerator.highVoltageOpen(highVoltageValue);//开启高压
+                    CommandFuture highVoltageOpenCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), highVoltageOpenCommand);
+                    commandWait(highVoltageOpenCommandFuture);
+                } else {//关闭高压
+                    DeviceCommand highVoltageCloseCommand = DeviceCommandGenerator.highVoltageClose();//关闭高压
+                    CommandFuture highVoltageCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), highVoltageCloseCommand);
+                    commandWait(highVoltageCloseCommandFuture);
+                }
+            }
+
             //1.速度
             DeviceCommand motorXSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorXSpeedSet(movingSpeed);//x轴电机速度设置
             DeviceCommand motorYSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorYSpeedSet(movingSpeed);//y轴电机速度设置
@@ -64,25 +81,14 @@ public class MatrixSprayChangeParam extends BaseCommandHandler {
             CommandFuture syringePumpVolumeSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpVolumeSetCommand);
             commandWait(syringePumpVolumeSetCommandFuture);
 
-            //3.z轴高度
+           //3.z轴高度
             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, sprayTask.getSprayParams().getMovingSpeed());//移动z轴到指定位置
             CommandFuture smotorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), smotorZPositionSetCommand);
             commandWait(smotorZPositionSetCommandFuture);
-            if (!sprayTask.isPaused()) {
-                //4.是否打开高压
-                if (highVoltage) {//打开高压
-                    DeviceCommand highVoltageOpenCommand = DeviceCommandGenerator.highVoltageOpen(highVoltageValue);//开启高压
-                    CommandFuture highVoltageOpenCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), highVoltageOpenCommand);
-                    commandWait(highVoltageOpenCommandFuture);
-                } else {//关闭高压
-                    DeviceCommand highVoltageCloseCommand = DeviceCommandGenerator.highVoltageClose();//关闭高压
-                    CommandFuture highVoltageCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), highVoltageCloseCommand);
-                    commandWait(highVoltageCloseCommandFuture);
-                }
-            }
+
         });
 
     }

src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayContinue.java

@@ -42,6 +42,12 @@ public class MatrixSprayContinue extends BaseCommandHandler {
         deviceStatus.setPaused(false);
 
         return runAsync(() -> {
+            if (sprayTask.getSprayParams().getHighVoltage()) {
+                DeviceCommand highVoltageOpenCommand = DeviceCommandGenerator.highVoltageOpen(sprayTask.getSprayParams().getHighVoltageValue()); //打开高压
+                CommandFuture highVoltageOpenCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), highVoltageOpenCommand);
+                commandWait(highVoltageOpenCommandFuture);
+            }
+
             DeviceCommand threeWayValveOpenSyringePipelineCommand = DeviceCommandGenerator.threeWayValveOpenSyringePipeline();//打开三通阀喷嘴管路
             CommandFuture threeWayValveOpenSyringePipelineCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), threeWayValveOpenSyringePipelineCommand);
             commandWait(threeWayValveOpenSyringePipelineCommandFuture);
@@ -54,11 +60,6 @@ public class MatrixSprayContinue extends BaseCommandHandler {
             CommandFuture syringePumpForwardCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpForwardCommand);
             commandWait(syringePumpForwardCommandFuture);
 
-            if (sprayTask.getSprayParams().getHighVoltage()) {
-                DeviceCommand highVoltageOpenCommand = DeviceCommandGenerator.highVoltageOpen(sprayTask.getSprayParams().getHighVoltageValue()); //打开高压
-                CommandFuture highVoltageOpenCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), highVoltageOpenCommand);
-                commandWait(highVoltageOpenCommandFuture);
-            }
             sprayTask.setFirstImmobility(true);
             sprayTaskExecutor.startTask();
         });

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

@@ -41,6 +41,7 @@ public class MatrixSprayPause extends BaseCommandHandler {
         deviceStatus.setPaused(true);
         sprayTask.setSuspendable(false);//不可暂停
         deviceStatus.setSuspendable(false);
+        sprayTask.setFirstImmobility(true);
         return runAsync(() -> {
             sprayTaskExecutor.stopTask();//终止喷涂任务线程
 

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

@@ -199,11 +199,11 @@ public class MatrixSprayStart extends BaseCommandHandler {
                         PathGenerator.Points p = pathList.get(j);
                         List<DeviceCommand> 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
+                            deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX()));//移动x轴
+                            deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY()));//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
+                            deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY()));//移动y轴
                         }
                         deviceCommandList.add(deviceCommands);
                     }
@@ -236,11 +236,11 @@ public class MatrixSprayStart extends BaseCommandHandler {
                         PathGenerator.Points p = pathList.get(j);
                         List<DeviceCommand> 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
+                            deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX()));//移动x轴
+                            deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY()));//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
+                            deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX()));//移动x轴
+                            deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY()));//移动y轴
                         }
                         deviceCommandList.add(deviceCommands);
                     }
@@ -272,11 +272,11 @@ public class MatrixSprayStart extends BaseCommandHandler {
                         PathGenerator.Points p = pathList.get(j);
                         List<DeviceCommand> 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
+                            deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX()));//移动x轴
+                            deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY()));//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
+                            deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX()));//移动x轴
+                            deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY()));//移动y轴
                         }
                         deviceCommandList.add(deviceCommands);
                     }
@@ -295,11 +295,11 @@ public class MatrixSprayStart extends BaseCommandHandler {
                         PathGenerator.Points p = pathList.get(j);
                         List<DeviceCommand> 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
+                            deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX()));//移动x轴
+                            deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY()));//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
+                            deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX()));//移动x轴
+                            deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY()));//移动y轴
                         }
                         deviceCommandList.add(deviceCommands);
                     }

src/main/java/com/qyft/ms/system/common/device/command/DeviceCommandGenerator.java

@@ -206,23 +206,11 @@ public class DeviceCommandGenerator {
     }
 
     /**
-     * 推动移动注射泵
-     *
-     * @param speed 是指注射泵每分钟注射多少微升(volume 最低0.1)
-     */
-    public static DeviceCommand syringePumpBackward(Double speed) {
-        Map<String, Object> params = new HashMap<>();
-        params.put("direction", "backward");
-        params.put("speed", speed);
-        return controlCmd("syringe_pump", "move", params, "推动移动注射泵");
-    }
-
-    /**
      * 注射泵流速设置
      */
-    public static DeviceCommand syringePumpVolumeSet(Double volume) {
+    public static DeviceCommand syringePumpVolumeSet(Double speed) {
         Map<String, Object> params = new HashMap<>();
-        params.put("volume", volume);
+        params.put("speed", speed);
         return controlCmd("syringe_pump", "set", params, "注射泵流速设置");
     }
 

src/main/java/com/qyft/ms/system/service/device/DeviceCommandService.java

@@ -1,6 +1,7 @@
 package com.qyft.ms.system.service.device;
 
 import cn.hutool.json.JSONObject;
+import com.qyft.ms.app.device.status.DeviceStatus;
 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.CyclicNumberGenerator;
@@ -12,7 +13,6 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
 
-import java.io.IOException;
 import java.util.concurrent.ConcurrentHashMap;
 import java.util.concurrent.ConcurrentMap;
 
@@ -25,6 +25,7 @@ public class DeviceCommandService {
 
     private final DeviceTcpClient deviceTcpClient;
     private final WebSocketService webSocketService;
+    private final DeviceStatus deviceStatus;
 
 
     public CommandFuture executeCommand(DeviceCommand cmdToDevice) {
@@ -47,31 +48,18 @@ public class DeviceCommandService {
 
 
     public CommandFuture sendCommandNoFront(DeviceCommand deviceCommand) {
-        CommandFuture commandFuture = executeCommand(deviceCommand);
-        commandFuture.getResponseFuture().thenApply(result -> {
-            Boolean success = result.getBool("success");
-            if (!success) { //response失败
-                String message = deviceCommand.getCmdName() + "指令，设备response错误";
-            }
-            return result;
-        });
-
-        return commandFuture;
+        return executeCommand(deviceCommand);
     }
 
-    public CommandFuture sendCommand(String cmdId, String cmdCode, DeviceCommand deviceCommand) throws IOException {
+    public CommandFuture sendCommand(String cmdId, String cmdCode, DeviceCommand deviceCommand) throws Exception {
+        if (deviceStatus.isStopPressed()) {
+            throw new RuntimeException("设备急停中");
+        }
         CommandFuture commandFuture = executeCommand(deviceCommand);
+        commandFuture.setCmdId(cmdId);
+        commandFuture.setCmdCode(cmdCode);
+        commandFuture.setDeviceCommand(deviceCommand);
         webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(cmdId, cmdCode, CommandStatus.DEVICE_SEND, deviceCommand.getCmdName() + "指令，已发给设备", deviceCommand));
-        commandFuture.getResponseFuture().thenApply(result -> {
-            Boolean success = result.getBool("success");
-            if (success == null || !success) { //response失败
-                String message = deviceCommand.getCmdName() + "指令，设备response错误";
-                webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(cmdId, cmdCode, CommandStatus.DEVICE_ERROR, message, result));
-            }
-            webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(cmdId, cmdCode, CommandStatus.DEVICE_RESULT, deviceCommand.getCmdName() + "指令，设备response正常，耗时:" + (commandFuture.getEndSendTime() - commandFuture.getStartSendTime()), result));
-            return result;
-        });
-
         return commandFuture;
     }
 
@@ -83,8 +71,16 @@ public class DeviceCommandService {
                 future.setEndSendTime(System.currentTimeMillis());
                 Boolean success = deviceResult.getBool("success"); //数据验证
                 if (success == null || !success) { //response失败
-                    future.completeResponseExceptionally(new RuntimeException("response失败"));
+                    if(future.getCmdId() != null) {
+                        webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(future.getCmdId(), future.getCmdCode(), CommandStatus.DEVICE_ERROR,
+                                future.getDeviceCommand().getCmdName() + "指令，设备response错误，耗时:" + (future.getEndSendTime() - future.getStartSendTime()), deviceResult));
+                    }
+                    future.completeResponseExceptionally(new RuntimeException("response失败:" + deviceResult));
                 } else {
+                    if(future.getCmdId() != null) {
+                        webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(future.getCmdId(), future.getCmdCode(), CommandStatus.DEVICE_RESULT,
+                                future.getDeviceCommand().getCmdName() + "指令，设备response正常，耗时:" + (future.getEndSendTime() - future.getStartSendTime()), deviceResult));
+                    }
                     future.completeResponse(deviceResult);
                 }
             }