From 4e8d249061982295b0c2d4fed700190cf4dcc63c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= Date: Mon, 14 Jul 2025 14:57:50 +0800 Subject: [PATCH] =?UTF-8?q?feat:=E6=96=B0=E5=96=B7=E6=B6=82=E9=85=8D?= =?UTF-8?q?=E7=BD=AE=E5=AE=9E=E7=8E=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../ms/app/common/generator/PathGenerator.java | 42 +- .../ms/app/controller/SprayTaskController.java | 5 +- .../ms/app/device/spray/SprayTaskExecutor.java | 213 +++--- .../ms/app/device/spray/SprayTaskExecutor_bak.java | 300 +++++++++ .../qyft/ms/app/device/status/DeviceStatus.java | 2 + .../com/qyft/ms/app/device/status/SprayTask.java | 111 +--- .../qyft/ms/app/device/status/SprayTask_bak.java | 150 +++++ .../front/cmd/business/MatrixSprayChangeParam.java | 192 +++--- .../front/cmd/business/MatrixSprayContinue.java | 134 ++-- .../app/front/cmd/business/MatrixSprayPause.java | 128 ++-- .../app/front/cmd/business/MatrixSprayStart.java | 38 ++ .../front/cmd/business/MatrixSprayStart_bak.java | 730 ++++++++++----------- .../ms/app/front/cmd/business/MatrixSprayStop.java | 6 +- .../java/com/qyft/ms/app/model/bo/Point2D.java | 4 +- .../com/qyft/ms/app/model/bo/SprayTaskStep.java | 10 +- .../java/com/qyft/ms/app/model/bo/SprayTimes.java | 6 +- .../com/qyft/ms/app/service/SprayTaskService.java | 15 + .../service/device/DeviceCommandService.java | 8 +- 18 files changed, 1270 insertions(+), 824 deletions(-) create mode 100644 src/main/java/com/qyft/ms/app/device/spray/SprayTaskExecutor_bak.java create mode 100644 src/main/java/com/qyft/ms/app/device/status/SprayTask_bak.java diff --git a/src/main/java/com/qyft/ms/app/common/generator/PathGenerator.java b/src/main/java/com/qyft/ms/app/common/generator/PathGenerator.java index acaeab2..51b8ea9 100644 --- a/src/main/java/com/qyft/ms/app/common/generator/PathGenerator.java +++ b/src/main/java/com/qyft/ms/app/common/generator/PathGenerator.java @@ -1,5 +1,6 @@ package com.qyft.ms.app.common.generator; +import com.qyft.ms.app.model.bo.Point2D; import lombok.Getter; import java.util.ArrayList; @@ -24,7 +25,7 @@ public class PathGenerator { * @param mode HORIZONTAL_ZIGZAG_TOP_DOWN 或 VERTICAL_ZIGZAG_LEFT_RIGHT * @return 之字形路径拐点列表 (每个拐点是 (x,y) 的int坐标) */ - public static List generatePathPoints( + public static List generatePathPoints( double left, double right, double top, @@ -77,7 +78,7 @@ public class PathGenerator { * 4) 下移 spacing * 重复，直到无法再下移。 */ - private static List generateHorizontalZigzagTopDown( + private static List generateHorizontalZigzagTopDown( double effLeft, double effRight, double effTop, @@ -85,13 +86,13 @@ public class PathGenerator { double spacing ) { - List result = new ArrayList<>(); + List result = new ArrayList<>(); double currentX = effLeft; double currentY = effTop; boolean goingRight = true; // 起点 - result.add(new Points(currentX, currentY)); + result.add(new Point2D(currentX, currentY)); while (true) { // 水平移动到对侧 @@ -100,7 +101,7 @@ public class PathGenerator { } else { currentX = effLeft; } - result.add(new Points(currentX, currentY)); + result.add(new Point2D(currentX, currentY)); // 往下移动 spacing double nextY = currentY + spacing; @@ -108,7 +109,7 @@ public class PathGenerator { break; // 无法再往下 } currentY = nextY; - result.add(new Points(currentX, currentY)); + result.add(new Point2D(currentX, currentY)); // 反转方向 goingRight = !goingRight; @@ -127,20 +128,20 @@ public class PathGenerator { * 4) 右移 spacing * 重复，直到无法再右移。 */ - private static List generateVerticalZigzagLeftRight( + private static List generateVerticalZigzagLeftRight( double effLeft, double effRight, double effTop, double effBottom, double spacing ) { - List result = new ArrayList<>(); + List result = new ArrayList<>(); double currentX = effLeft; double currentY = effTop; boolean goingDown = true; // 第一列先从上往下 // 起点 - result.add(new Points(currentX, currentY)); + result.add(new Point2D(currentX, currentY)); while (true) { // 垂直移动到对侧 @@ -149,7 +150,7 @@ public class PathGenerator { } else { currentY = effTop; } - result.add(new Points(currentX, currentY)); + result.add(new Point2D(currentX, currentY)); // 向右移动 spacing double nextX = currentX + spacing; @@ -157,7 +158,7 @@ public class PathGenerator { break; // 无法再右移 } currentX = nextX; - result.add(new Points(currentX, currentY)); + result.add(new Point2D(currentX, currentY)); // 反转 goingDown = !goingDown; @@ -173,19 +174,19 @@ public class PathGenerator { // 1) 测试水平之字形(从上往下) System.out.println("=== HORIZONTAL_ZIGZAG_TOP_DOWN ==="); - List horizontalPath = generatePathPoints( + List horizontalPath = generatePathPoints( left, right, top, bottom, spacing, MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN ); - for (Points p : horizontalPath) { + for (Point2D p : horizontalPath) { System.out.println(p.x + "," + p.y); } // 2) 测试垂直之字形(从左往右) System.out.println("\n=== VERTICAL_ZIGZAG_LEFT_RIGHT ==="); - List verticalPath = generatePathPoints( + List verticalPath = generatePathPoints( left, right, top, bottom, spacing, MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT ); - for (Points p : verticalPath) { + for (Point2D p : verticalPath) { System.out.println(p.x + "," + p.y); } } @@ -207,14 +208,5 @@ public class PathGenerator { VERTICAL_ZIGZAG_LEFT_RIGHT } - @Getter - public static class Points { - double x; - double y; - - public Points(double x, double y) { - this.x = x; - this.y = y; - } - } + } \ No newline at end of file diff --git a/src/main/java/com/qyft/ms/app/controller/SprayTaskController.java b/src/main/java/com/qyft/ms/app/controller/SprayTaskController.java index 3ff6009..963241e 100644 --- a/src/main/java/com/qyft/ms/app/controller/SprayTaskController.java +++ b/src/main/java/com/qyft/ms/app/controller/SprayTaskController.java @@ -29,14 +29,15 @@ public class SprayTaskController { SprayTaskStatusVO sprayTaskStatusVO = new SprayTaskStatusVO(); sprayTaskStatusVO.setCmdId(sprayTask.getCmdId()); sprayTaskStatusVO.setCmdCode(sprayTask.getCmdCode()); - sprayTaskStatusVO.setSprayTaskSprayedList(sprayTask.getSprayTaskSprayedList()); - sprayTaskStatusVO.setSprayParams(sprayTask.getCacheParams()); +// sprayTaskStatusVO.setSprayTaskSprayedList(sprayTask.getSprayTaskSprayedList()); +// sprayTaskStatusVO.setSprayParams(sprayTask.getCacheParams()); return Result.success(sprayTaskStatusVO); } @Operation(summary = "设置喷涂参数") @PostMapping("/set-params") public Result setSprayParams(@RequestBody SetSprayTaskParamsDTO setSprayTaskParamsDTO) { + sprayTaskService.setSprayParams(setSprayTaskParamsDTO); return Result.success(); } 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 a0c3cbe..4a8cd80 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 @@ -2,12 +2,10 @@ package com.qyft.ms.app.device.spray; import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; import com.qyft.ms.app.common.constant.WebSocketMessageType; +import com.qyft.ms.app.common.generator.PathGenerator; import com.qyft.ms.app.device.status.DeviceStatus; import com.qyft.ms.app.device.status.SprayTask; -import com.qyft.ms.app.model.bo.Point2D; -import com.qyft.ms.app.model.bo.SprayTaskPointCollectorPushBO; -import com.qyft.ms.app.model.bo.SprayTaskSprayed; -import com.qyft.ms.app.model.bo.SprayTaskStep; +import com.qyft.ms.app.model.bo.*; import com.qyft.ms.app.model.entity.Position; import com.qyft.ms.app.model.entity.SysSettings; import com.qyft.ms.app.service.PositionService; @@ -29,6 +27,7 @@ import java.util.ArrayList; import java.util.Arrays; import java.util.List; import java.util.concurrent.CompletableFuture; +import java.util.concurrent.CopyOnWriteArrayList; import java.util.concurrent.ExecutionException; import java.util.concurrent.TimeUnit; @@ -73,100 +72,81 @@ 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")); - int reCurrentStep = sprayTask.getCurrentStep(); + List sprayTaskParams = sprayTask.getSprayTaskParams(); + + DeviceCommand threeWayValveOpenSyringePipelineCommand = DeviceCommandGenerator.threeWayValveOpenNozzlePipeline();//打开三通阀注射器管路 + CommandFuture threeWayValveOpenSyringePipelineCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), threeWayValveOpenSyringePipelineCommand); + commandWait(threeWayValveOpenSyringePipelineCommandFuture); + + DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen();//开启喷嘴阀 + CommandFuture nozzleValveOpenCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), nozzleValveOpenCommand); + commandWait(nozzleValveOpenCommandFuture); + int currentStep = 0; //当前喷涂步骤 int sprayCount = 0; int sprayNum = 1; int currentIndex = 0; - for (SprayTaskStep sprayTaskStep : sprayTask.getSprayTaskStepList()) {//循环进行多次喷涂 - if (!sprayTask.isFirstImmobility()) { + for (SprayTaskParams sprayTaskParam : sprayTaskParams) {//循环玻片 + for (SprayTimes sprayTimes : sprayTaskParam.getTimes()) {//每个拨片有多次喷涂，循环每次喷涂 + List sprayTaskStepList = getSprayPath(sprayTaskParam.getIndex(), sprayTimes);//计算本次喷涂的路线 //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); + DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(slideArr[sprayTaskParam.getIndex()][0], 20.0); + DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorYPositionSet(75.5 - slideArr[sprayTaskParam.getIndex()][1], 20.0); CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXPositionSetCommand); CommandFuture motorYPositionSetCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYPositionSetCommand); 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 + Double height = slideHeight - sprayTimes.getMotorZHeight();//下降z轴高度 DeviceCommand motorZPositionSetAboveSlideCommand = DeviceCommandGenerator.motorZPositionSet(height, 15.0); CommandFuture motorZPositionSetAboveSlideCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZPositionSetAboveSlideCommand); commandWait(motorXPositionSetCommandFuture, motorYPositionSetCommandFuture, motorZPositionSetAboveSlideCommandFuture); - } - 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); - double cacheXPoint = -1; - double cacheYPoint = -1; - DecimalFormat df = new DecimalFormat("#.##"); - for (int i = 0; i < sprayTaskStep.getSpraySteps().size(); i++) {//单次喷涂 - if (currentIndex != sprayTaskStep.getIndex()) { - sprayNum = 0; - currentIndex = sprayTaskStep.getIndex(); - } - if (currentStep < reCurrentStep) { - currentStep++; - continue; - } - if(i == 1){ - DeviceCommand syringePumpForwardCommand = DeviceCommandGenerator.syringePumpForward(sprayTask.getSprayParams().getVolume());//推动移动注射泵 + Thread.sleep(100); + double cacheXPoint = -1; + double cacheYPoint = -1; + sprayNum++; + for (SprayTaskStep sprayTaskStep : sprayTaskStepList) {//因为田字格喷涂其实是两次 + if (sprayTimes.getHighVoltage()) {//加电 + DeviceCommand highVoltageOpenCommand = DeviceCommandGenerator.highVoltageOpen(sprayTimes.getHighVoltageValue());//开启高压 + CommandFuture highVoltageOpenCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), highVoltageOpenCommand); + commandWait(highVoltageOpenCommandFuture); + } + + DeviceCommand syringePumpForwardCommand = DeviceCommandGenerator.syringePumpForward(sprayTimes.getVolume());//推动移动注射泵 CommandFuture syringePumpForwardCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpForwardCommand); commandWait(syringePumpForwardCommandFuture); + for (int i = 0; i < sprayTaskStep.getSprayPathPointList().size(); i++) {//循环路线 + Point2D currentPoint = sprayTaskStep.getSprayPathPointList().get(i); + List commandFutureList = new ArrayList<>(); + if (cacheXPoint != currentPoint.x) { + DeviceCommand deviceCommand = DeviceCommandGenerator.motorXPositionSet(currentPoint.x, sprayTimes.getMovingSpeed()); + CommandFuture commandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), deviceCommand); + commandFutureList.add(commandFuture); + cacheXPoint = currentPoint.x; + } + if (cacheYPoint != currentPoint.y) { + DeviceCommand deviceCommand = DeviceCommandGenerator.motorXPositionSet(currentPoint.y, sprayTimes.getMovingSpeed()); + CommandFuture commandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), deviceCommand); + commandFutureList.add(commandFuture); + cacheYPoint = currentPoint.y; + } + SprayTaskPointCollectorPushBO sprayTaskPointCollectorPushBO = new SprayTaskPointCollectorPushBO(sprayTask.getCmdId(), sprayTask.getCmdCode(), sprayTaskParam.getIndex(), sprayNum, sprayCount, currentPoint); + webSocketService.pushMsg(WebSocketMessageType.SPRAY_POINT, sprayTaskPointCollectorPushBO);//向前端推送当前路径 + + CommandFuture[] commandFutureArray = commandFutureList.toArray(new CommandFuture[0]); + commandWait(commandFutureArray); + currentStep++;//当前喷涂步数自增 + } + //一次喷涂完毕后停止推注射泵 + DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop();//停止推动注射泵 + CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpStopCommand); + commandWait(syringePumpStopCommandFuture); } - sprayTask.setFirstImmobility(true); - List 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 - DeviceCommand ySprayStepCommands = sprayStepCommands.get(1); - ySprayStepCommands.getParam().put("speed", sprayTask.getSprayParams().getMovingSpeed()); - List commandFutureList = new ArrayList<>(); - double aXPoint = (double) xSprayStepCommands.getParam().get("position"); - double aYPoint = (double) ySprayStepCommands.getParam().get("position"); - - xSprayStepCommands.getParam().put("position", Double.parseDouble(df.format(aXPoint))); - ySprayStepCommands.getParam().put("position", Double.parseDouble(df.format(aYPoint))); - - if (cacheXPoint != aXPoint) { - CommandFuture commandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), xSprayStepCommands); - commandFutureList.add(commandFuture); - cacheXPoint = aXPoint; - } - if (cacheYPoint != aYPoint) { - CommandFuture commandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), ySprayStepCommands); - commandFutureList.add(commandFuture); - cacheYPoint = aYPoint; - } - CommandFuture[] commandFutureArray = commandFutureList.toArray(new CommandFuture[0]); - - double currentXPoint = Double.parseDouble(df.format((Double) xSprayStepCommands.getParam().get("position") - slideArr[sprayTaskStep.getIndex()][0])); - double currentYPoint = Double.parseDouble(df.format(75.5 - (Double) ySprayStepCommands.getParam().get("position"))); - Point2D currentPoint = new Point2D(currentXPoint, currentYPoint); - SprayTaskPointCollectorPushBO sprayTaskPointCollectorPushBO = new SprayTaskPointCollectorPushBO(sprayTask.getCmdId(), sprayTask.getCmdCode(), sprayTaskStep.getIndex(), sprayNum, sprayCount, currentPoint); - webSocketService.pushMsg(WebSocketMessageType.SPRAY_POINT, sprayTaskPointCollectorPushBO); - - //将当前点位缓存 - SprayTaskSprayed sprayTaskSprayed = new SprayTaskSprayed(); - sprayTaskSprayed.setNumber(sprayNum); - sprayTaskSprayed.setIndex(sprayTaskStep.getIndex()); - sprayTaskSprayed.setSprayCount(sprayCount); - sprayTaskSprayed.setSprayedPoints(new Point2D(Double.parseDouble(df.format(aXPoint - slideArr[sprayTaskStep.getIndex()][0])), Double.parseDouble(df.format(75.5 - aYPoint)))); - sprayTask.addSprayTaskSprayed(sprayTaskSprayed); - - commandWait(commandFutureArray); - currentStep++; - sprayTask.setCurrentStep(currentStep);//将当前的喷涂进度缓存 + sprayCount++; + sprayNum++; } - sprayTask.setSuspendable(false);//不可暂停 - deviceStatus.setSuspendable(false); - if (currentStep >= reCurrentStep) { - DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop();//停止推动注射泵 - CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpStopCommand); - commandWait(syringePumpStopCommandFuture); - } - sprayCount++; - sprayNum++; } - + //喷涂完毕 DeviceCommand highVoltageCloseCommand = DeviceCommandGenerator.highVoltageClose();//关闭高压 CommandFuture highVoltageCloseCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), highVoltageCloseCommand); commandWait(highVoltageCloseCommandFuture); @@ -184,14 +164,8 @@ public class SprayTaskExecutor { CommandFuture motorZOriginCommandFuture = deviceCommandService.sendCommandSprayTask(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")); webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SPRAY_TASK_FINISH, "喷涂任务结束")); - - SprayTask.getInstance().clear(); - deviceStatus.setSpraying(false);//是否正在进行喷涂 - deviceStatus.setPaused(false);//是否暂停 - deviceStatus.setSuspendable(false);//是否可以暂停 } catch (InterruptedException e) { webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SEND, "喷涂任务线程停止")); } catch (Exception e) { @@ -200,10 +174,11 @@ public class SprayTaskExecutor { webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SPRAY_TASK_FINISH, "喷涂任务结束")); SprayTask.getInstance().clear(); + } finally { + SprayTask.getInstance().clear(); deviceStatus.setSpraying(false); deviceStatus.setPaused(false); deviceStatus.setSuspendable(false); - } finally { webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SEND, "喷涂任务线程退出")); // 在线程结束后将 taskThread 设置为 null，保证状态一致和资源释放 synchronized (this) { @@ -216,9 +191,6 @@ public class SprayTaskExecutor { /** * 停止任务线程： - * 1. 直接中断线程，不再关心 CompletableFuture 的等待和结果； - * 2. 可选择等待一定时间让线程自行退出（如 join 超时 2 秒）； - * 3. 清空线程引用，防止内存泄露。 */ public synchronized void stopTask() { if (taskThread != null && taskThread.isAlive()) { @@ -236,4 +208,65 @@ public class SprayTaskExecutor { .orTimeout(120, TimeUnit.SECONDS) .get(); } + + private List getSprayPath(Integer index, SprayTimes sprayTimes) { + String matrixPathType = sprayTimes.getMatrixPathType(); + 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()} + }; + Double[] upperLeft = {sprayTimes.getX1(), sprayTimes.getY1()}; //范围左上角 x1，y1 + Double[] lowerRight = {sprayTimes.getX2(), sprayTimes.getY2()}; //范围左上角 x1，y1 + Double[] slide = slideArr[index];//获取玻片的坐标 + 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])); + Double spacing = sprayTimes.getSpacing(); + List sprayTaskStepList = new CopyOnWriteArrayList<>(); + 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 + List pathList = PathGenerator.generatePathPoints( + left, right, top, bottom, + spacing, + PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN + ); + SprayTaskStep sprayTaskStep = new SprayTaskStep(); + sprayTaskStep.setSprayPathPointList(pathList); + sprayTaskStepList.add(sprayTaskStep); + } else if ("vertical".equals(matrixPathType)) { + List pathList = PathGenerator.generatePathPoints( + left, right, top, bottom, + spacing, + PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT + ); + SprayTaskStep sprayTaskStep = new SprayTaskStep(); + sprayTaskStep.setSprayPathPointList(pathList); + sprayTaskStepList.add(sprayTaskStep); + } else if ("grid".equals(matrixPathType)) { + List pathList1 = PathGenerator.generatePathPoints( + left, right, top, bottom, + spacing, + PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN + ); + SprayTaskStep sprayTaskStep1 = new SprayTaskStep(); + sprayTaskStep1.setSprayPathPointList(pathList1); + sprayTaskStepList.add(sprayTaskStep1); + List pathList2 = PathGenerator.generatePathPoints( + left, right, top, bottom, + spacing, + PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT + ); + SprayTaskStep sprayTaskStep2 = new SprayTaskStep(); + sprayTaskStep2.setSprayPathPointList(pathList2); + sprayTaskStepList.add(sprayTaskStep2); + } + return sprayTaskStepList; + } } diff --git a/src/main/java/com/qyft/ms/app/device/spray/SprayTaskExecutor_bak.java b/src/main/java/com/qyft/ms/app/device/spray/SprayTaskExecutor_bak.java new file mode 100644 index 0000000..c9d6775 --- /dev/null +++ b/src/main/java/com/qyft/ms/app/device/spray/SprayTaskExecutor_bak.java @@ -0,0 +1,300 @@ +//package com.qyft.ms.app.device.spray; +// +//import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; +//import com.qyft.ms.app.common.constant.WebSocketMessageType; +//import com.qyft.ms.app.common.generator.PathGenerator; +//import com.qyft.ms.app.device.status.DeviceStatus; +//import com.qyft.ms.app.device.status.SprayTask; +//import com.qyft.ms.app.model.bo.*; +//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.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.FrontResponseGenerator; +//import com.qyft.ms.system.model.bo.DeviceCommand; +//import com.qyft.ms.system.service.WebSocketService; +//import com.qyft.ms.system.service.device.DeviceCommandService; +//import jakarta.annotation.PostConstruct; +//import lombok.RequiredArgsConstructor; +//import lombok.extern.slf4j.Slf4j; +//import org.springframework.stereotype.Component; +// +//import java.text.DecimalFormat; +//import java.util.ArrayList; +//import java.util.Arrays; +//import java.util.List; +//import java.util.concurrent.CompletableFuture; +//import java.util.concurrent.CopyOnWriteArrayList; +//import java.util.concurrent.ExecutionException; +//import java.util.concurrent.TimeUnit; +// +//@Slf4j +//@Component +//@RequiredArgsConstructor +//public class SprayTaskExecutor_bak { +// private final WebSocketService webSocketService; +// private final DeviceCommandService deviceCommandService; +// private final SysSettingsService sysSettingsService; +// private final DeviceStatus deviceStatus; +// private final PositionService positionService; +// +// private Thread taskThread; +// private Double[][] slideArr; +// +// @PostConstruct +// public void init() { +// 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")); +// slideArr = new Double[][]{ +// {slidePosition1.getX(), slidePosition1.getY()}, +// {slidePosition2.getX(), slidePosition2.getY()}, +// {slidePosition3.getX(), slidePosition3.getY()}, +// {slidePosition4.getX(), slidePosition4.getY()} +// }; +// } +// +// +// /** +// * 启动任务线程，如果线程已存在且正在运行则不重复启动 +// */ +// public synchronized void startTask() { +// SprayTask sprayTask = SprayTask.getInstance(); +// if (taskThread != null && taskThread.isAlive()) { +// webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.DEVICE_ERROR, "设备正在喷涂，请先停止喷涂")); +// return; +// } +// +// taskThread = new Thread(() -> { +// try { +// int reCurrentStep = sprayTask.getCurrentStep(); +// int currentStep = 0; //当前喷涂步骤 +// int sprayCount = 0; +// int sprayNum = 1; +// int currentIndex = 0; +// for (SprayTaskStep sprayTaskStep : sprayTask.getSprayTaskStepList()) {//循环进行多次喷涂 +// 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); +// CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXPositionSetCommand); +// CommandFuture motorYPositionSetCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYPositionSetCommand); +// +// 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, 15.0); +// CommandFuture motorZPositionSetAboveSlideCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZPositionSetAboveSlideCommand); +// commandWait(motorXPositionSetCommandFuture, motorYPositionSetCommandFuture, motorZPositionSetAboveSlideCommandFuture); +// } +// 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); +// double cacheXPoint = -1; +// double cacheYPoint = -1; +// DecimalFormat df = new DecimalFormat("#.##"); +// for (int i = 0; i < sprayTaskStep.getSprayPathPointList().size(); i++) {//单次喷涂 +// if (currentIndex != sprayTaskStep.getIndex()) { +// sprayNum = 0; +// currentIndex = sprayTaskStep.getIndex(); +// } +// if (currentStep < reCurrentStep) { +// currentStep++; +// continue; +// } +// if (i == 1) { +// DeviceCommand syringePumpForwardCommand = DeviceCommandGenerator.syringePumpForward(sprayTask.getSprayParams().getVolume());//推动移动注射泵 +// CommandFuture syringePumpForwardCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpForwardCommand); +// commandWait(syringePumpForwardCommandFuture); +// } +// sprayTask.setFirstImmobility(true); +// List sprayStepCommands = sprayTaskStep.getSprayPathPointList().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 +// DeviceCommand ySprayStepCommands = sprayStepCommands.get(1); +// ySprayStepCommands.getParam().put("speed", sprayTask.getSprayParams().getMovingSpeed()); +// List commandFutureList = new ArrayList<>(); +// double aXPoint = (double) xSprayStepCommands.getParam().get("position"); +// double aYPoint = (double) ySprayStepCommands.getParam().get("position"); +// +// xSprayStepCommands.getParam().put("position", Double.parseDouble(df.format(aXPoint))); +// ySprayStepCommands.getParam().put("position", Double.parseDouble(df.format(aYPoint))); +// +// if (cacheXPoint != aXPoint) { +// CommandFuture commandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), xSprayStepCommands); +// commandFutureList.add(commandFuture); +// cacheXPoint = aXPoint; +// } +// if (cacheYPoint != aYPoint) { +// CommandFuture commandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), ySprayStepCommands); +// commandFutureList.add(commandFuture); +// cacheYPoint = aYPoint; +// } +// CommandFuture[] commandFutureArray = commandFutureList.toArray(new CommandFuture[0]); +// +// double currentXPoint = Double.parseDouble(df.format((Double) xSprayStepCommands.getParam().get("position") - slideArr[sprayTaskStep.getIndex()][0])); +// double currentYPoint = Double.parseDouble(df.format(75.5 - (Double) ySprayStepCommands.getParam().get("position"))); +// Point2D currentPoint = new Point2D(currentXPoint, currentYPoint); +// SprayTaskPointCollectorPushBO sprayTaskPointCollectorPushBO = new SprayTaskPointCollectorPushBO(sprayTask.getCmdId(), sprayTask.getCmdCode(), sprayTaskStep.getIndex(), sprayNum, sprayCount, currentPoint); +// webSocketService.pushMsg(WebSocketMessageType.SPRAY_POINT, sprayTaskPointCollectorPushBO); +// +// //将当前点位缓存 +// SprayTaskSprayed sprayTaskSprayed = new SprayTaskSprayed(); +// sprayTaskSprayed.setNumber(sprayNum); +// sprayTaskSprayed.setIndex(sprayTaskStep.getIndex()); +// sprayTaskSprayed.setSprayCount(sprayCount); +// sprayTaskSprayed.setSprayedPoints(new Point2D(Double.parseDouble(df.format(aXPoint - slideArr[sprayTaskStep.getIndex()][0])), Double.parseDouble(df.format(75.5 - aYPoint)))); +// sprayTask.addSprayTaskSprayed(sprayTaskSprayed); +// +// commandWait(commandFutureArray); +// currentStep++; +// sprayTask.setCurrentStep(currentStep);//将当前的喷涂进度缓存 +// } +// sprayTask.setSuspendable(false);//不可暂停 +// deviceStatus.setSuspendable(false); +// if (currentStep >= reCurrentStep) { +// DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop();//停止推动注射泵 +// CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpStopCommand); +// commandWait(syringePumpStopCommandFuture); +// } +// sprayCount++; +// sprayNum++; +// } +// +// DeviceCommand highVoltageCloseCommand = DeviceCommandGenerator.highVoltageClose();//关闭高压 +// CommandFuture highVoltageCloseCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), highVoltageCloseCommand); +// commandWait(highVoltageCloseCommandFuture); +// Thread.sleep(500); +// DeviceCommand nozzleValveCloseCommand = DeviceCommandGenerator.nozzleValveClose();//关闭喷嘴阀 +// CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), nozzleValveCloseCommand); +// commandWait(nozzleValveCloseCommandFuture); +// +// //XYZ回原点 +// DeviceCommand motorXOriginCommand = DeviceCommandGenerator.motorXOrigin(); +// DeviceCommand motorYOriginCommand = DeviceCommandGenerator.motorYOrigin(); +// DeviceCommand motorZOriginCommand = DeviceCommandGenerator.motorZOrigin(); +// CommandFuture motorXOriginCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXOriginCommand); +// CommandFuture motorYOriginCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYOriginCommand); +// CommandFuture motorZOriginCommandFuture = deviceCommandService.sendCommandSprayTask(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")); +// webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SPRAY_TASK_FINISH, "喷涂任务结束")); +// +// SprayTask.getInstance().clear(); +// deviceStatus.setSpraying(false);//是否正在进行喷涂 +// deviceStatus.setPaused(false);//是否暂停 +// deviceStatus.setSuspendable(false);//是否可以暂停 +// } catch (InterruptedException e) { +// webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SEND, "喷涂任务线程停止")); +// } catch (Exception e) { +// log.info("喷涂任务失败", e); +// webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.FAIL, "喷涂任务执行失败")); +// webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SPRAY_TASK_FINISH, "喷涂任务结束")); +// +// SprayTask.getInstance().clear(); +// deviceStatus.setSpraying(false); +// deviceStatus.setPaused(false); +// deviceStatus.setSuspendable(false); +// } finally { +// webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SEND, "喷涂任务线程退出")); +// // 在线程结束后将 taskThread 设置为 null，保证状态一致和资源释放 +// synchronized (this) { +// taskThread = null; +// } +// } +// }); +// taskThread.start(); +// } +// +// /** +// * 停止任务线程： +// */ +// public synchronized void stopTask() { +// if (taskThread != null && taskThread.isAlive()) { +// // 中断线程，使得 future.get() 能够抛出 InterruptedException，从而退出等待 +// taskThread.interrupt(); +// } +// taskThread = null; +// } +// +// private void commandWait(CommandFuture... futures) throws ExecutionException, InterruptedException { +// CompletableFuture[] responseFutures = Arrays.stream(futures) +// .map(CommandFuture::getResponseFuture) +// .toArray(CompletableFuture[]::new); +// CompletableFuture.allOf(responseFutures) +// .orTimeout(120, TimeUnit.SECONDS) +// .get(); +// } +// +// +// private List getSprayPath(Integer index, SprayTimes sprayTimes) { +// String matrixPathType = sprayTimes.getMatrixPathType(); +// 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()} +// }; +// Double[] upperLeft = {sprayTimes.getX1(), sprayTimes.getY1()}; //范围左上角 x1，y1 +// Double[] lowerRight = {sprayTimes.getX2(), sprayTimes.getY2()}; //范围左上角 x1，y1 +// Double[] slide = slideArr[index];//获取玻片的坐标 +// 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])); +// Double spacing = sprayTimes.getSpacing(); +// List sprayTaskStepList = new CopyOnWriteArrayList<>(); +// 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 +// List pathList = PathGenerator.generatePathPoints( +// left, right, top, bottom, +// spacing, +// PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN +// ); +// SprayTaskStep sprayTaskStep = new SprayTaskStep(); +// sprayTaskStep.setIndex(index); +// sprayTaskStep.setSprayPathPointList(pathList); +// sprayTaskStepList.add(sprayTaskStep); +// } else if ("vertical".equals(matrixPathType)) { +// List pathList = PathGenerator.generatePathPoints( +// left, right, top, bottom, +// spacing, +// PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT +// ); +// SprayTaskStep sprayTaskStep = new SprayTaskStep(); +// sprayTaskStep.setIndex(index); +// sprayTaskStep.setSprayPathPointList(pathList); +// sprayTaskStepList.add(sprayTaskStep); +// } else if ("grid".equals(matrixPathType)) { +// List pathList1 = PathGenerator.generatePathPoints( +// left, right, top, bottom, +// spacing, +// PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN +// ); +// SprayTaskStep sprayTaskStep1 = new SprayTaskStep(); +// sprayTaskStep1.setIndex(index); +// sprayTaskStep1.setSprayPathPointList(pathList1); +// sprayTaskStepList.add(sprayTaskStep1); +// List pathList2 = PathGenerator.generatePathPoints( +// left, right, top, bottom, +// spacing, +// PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT +// ); +// SprayTaskStep sprayTaskStep2 = new SprayTaskStep(); +// sprayTaskStep2.setIndex(index); +// sprayTaskStep2.setSprayPathPointList(pathList2); +// sprayTaskStepList.add(sprayTaskStep2); +// } +// return sprayTaskStepList; +// } +//} diff --git a/src/main/java/com/qyft/ms/app/device/status/DeviceStatus.java b/src/main/java/com/qyft/ms/app/device/status/DeviceStatus.java index 91d4b32..5f0cf85 100644 --- a/src/main/java/com/qyft/ms/app/device/status/DeviceStatus.java +++ b/src/main/java/com/qyft/ms/app/device/status/DeviceStatus.java @@ -84,6 +84,8 @@ public class DeviceStatus { json.putOnce("selfTestCompleted", selfTestCompleted); json.putOnce("stopPressed", stopPressed); json.putOnce("virtual", virtual); + json.putOnce("nozzleHeating", nozzleHeating); + json.putOnce("slidePlatHeating", slidePlatHeating); return json; } 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 2bd25c4..7104194 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 @@ -1,27 +1,14 @@ package com.qyft.ms.app.device.status; -import com.qyft.ms.app.model.bo.SprayParams; -import com.qyft.ms.app.model.bo.SprayTaskSprayed; -import com.qyft.ms.app.model.bo.SprayTaskStep; +import com.qyft.ms.app.model.bo.SprayTaskParams; import lombok.Data; -import java.util.LinkedHashSet; import java.util.List; -import java.util.Map; -import java.util.concurrent.CopyOnWriteArrayList; @Data public class SprayTask { /** - * 喷涂步骤列表 - */ - private final List sprayTaskStepList = new CopyOnWriteArrayList<>(); - /** - * 喷涂参数 - */ - private final SprayParams sprayParams = new SprayParams(); - /** * 前端指令id */ private String cmdId; @@ -30,7 +17,15 @@ public class SprayTask { */ private String cmdCode; /** - * 喷涂任务暂停状态 + * 当前正在执行的步骤序号 + */ + private volatile int currentStep = 0; + /** + * 当前喷涂参数 + */ + private List sprayTaskParams = null; + /** + * 标志喷涂任务暂停 */ private volatile boolean paused = false; /** @@ -38,29 +33,13 @@ public class SprayTask { */ private volatile boolean suspendable = false; /** - * 是否正在结束 + * 标志喷涂任务结束 */ - private volatile boolean closing = false; + private volatile boolean close = false; /** * 设备是否正在进行的喷涂 */ private volatile boolean spraying = false; - /** - * 当前正在执行的步骤序号 - */ - private volatile int currentStep = 0; - - private volatile boolean firstImmobility = false; - - /** - * 缓存前端的参数 - */ - private Map cacheParams = null; - - /** - * 已喷涂点位 - */ - private volatile List sprayTaskSprayedList = new CopyOnWriteArrayList<>(); private SprayTask() { } @@ -69,78 +48,14 @@ public class SprayTask { return Holder.INSTANCE; } - public void setChangeSprayParam(Double motorZHeight, - Double gasPressure, - Double volume, - Boolean highVoltage, - Double highVoltageValue, - Double movingSpeed) { - if (motorZHeight != null) { - sprayParams.setMotorZHeight(motorZHeight); - } - if (gasPressure != null) { - sprayParams.setGasPressure(gasPressure); - } - if (volume != null) { - sprayParams.setVolume(volume); - } - if (highVoltage != null) { - sprayParams.setHighVoltage(highVoltage); - } - if (highVoltageValue != null) { - sprayParams.setHighVoltageValue(highVoltageValue); - } - if (movingSpeed != null) { - sprayParams.setMovingSpeed(movingSpeed); - } - - } - - public void setSprayParam(String matrixPathType, - Double motorZHeight, - Double gasPressure, - Double volume, - Boolean highVoltage, - Double highVoltageValue, - Double spacing, - Double movingSpeed, - Double times, - List> positionList) { - sprayParams.setMatrixPathType(matrixPathType); - sprayParams.setMotorZHeight(motorZHeight); - sprayParams.setGasPressure(gasPressure); - sprayParams.setVolume(volume); - sprayParams.setHighVoltage(highVoltage); - sprayParams.setHighVoltageValue(highVoltageValue); - sprayParams.setSpacing(spacing); - sprayParams.setMovingSpeed(movingSpeed); - sprayParams.setTimes(times); - sprayParams.setPositionList(positionList); - } - - public synchronized void addSprayTaskSprayed(SprayTaskSprayed task) { - LinkedHashSet distinctNumbers = new LinkedHashSet<>(); - for (SprayTaskSprayed item : sprayTaskSprayedList) { - distinctNumbers.add(item.getSprayCount()); - } - if (!distinctNumbers.contains(task.getSprayCount()) && distinctNumbers.size() >= 120) { - Integer oldestNumber = distinctNumbers.iterator().next(); - sprayTaskSprayedList.removeIf(item -> item.getSprayCount().equals(oldestNumber)); - } - sprayTaskSprayedList.add(task); - } - public void clear() { cmdId = null; cmdCode = null; paused = false; suspendable = false; spraying = false; - sprayTaskStepList.clear(); currentStep = 0; - firstImmobility = false; - sprayTaskSprayedList.clear(); - cacheParams = null; + sprayTaskParams = null; } private static class Holder { diff --git a/src/main/java/com/qyft/ms/app/device/status/SprayTask_bak.java b/src/main/java/com/qyft/ms/app/device/status/SprayTask_bak.java new file mode 100644 index 0000000..e057036 --- /dev/null +++ b/src/main/java/com/qyft/ms/app/device/status/SprayTask_bak.java @@ -0,0 +1,150 @@ +package com.qyft.ms.app.device.status; + +import com.qyft.ms.app.model.bo.SprayParams; +import com.qyft.ms.app.model.bo.SprayTaskSprayed; +import com.qyft.ms.app.model.bo.SprayTaskStep; +import lombok.Data; + +import java.util.LinkedHashSet; +import java.util.List; +import java.util.Map; +import java.util.concurrent.CopyOnWriteArrayList; + +@Data +public class SprayTask_bak { + + /** + * 喷涂步骤列表 + */ + private final List sprayTaskStepList = new CopyOnWriteArrayList<>(); + /** + * 喷涂参数 + */ + private final SprayParams sprayParams = new SprayParams(); + /** + * 前端指令id + */ + private String cmdId; + /** + * 前端指令code + */ + private String cmdCode; + /** + * 喷涂任务暂停状态 + */ + private volatile boolean paused = false; + /** + * 当前状态是否可以暂停 + */ + private volatile boolean suspendable = false; + /** + * 是否正在结束 + */ + private volatile boolean closing = false; + /** + * 设备是否正在进行的喷涂 + */ + private volatile boolean spraying = false; + /** + * 当前正在执行的步骤序号 + */ + private volatile int currentStep = 0; + + private volatile boolean firstImmobility = false; + + /** + * 缓存前端的参数 + */ + private Map cacheParams = null; + + /** + * 已喷涂点位 + */ + private volatile List sprayTaskSprayedList = new CopyOnWriteArrayList<>(); + + private SprayTask_bak() { + } + + public static SprayTask_bak getInstance() { + return Holder.INSTANCE; + } + + public void setChangeSprayParam(Double motorZHeight, + Double gasPressure, + Double volume, + Boolean highVoltage, + Double highVoltageValue, + Double movingSpeed) { + if (motorZHeight != null) { + sprayParams.setMotorZHeight(motorZHeight); + } + if (gasPressure != null) { + sprayParams.setGasPressure(gasPressure); + } + if (volume != null) { + sprayParams.setVolume(volume); + } + if (highVoltage != null) { + sprayParams.setHighVoltage(highVoltage); + } + if (highVoltageValue != null) { + sprayParams.setHighVoltageValue(highVoltageValue); + } + if (movingSpeed != null) { + sprayParams.setMovingSpeed(movingSpeed); + } + + } + + public void setSprayParam(String matrixPathType, + Double motorZHeight, + Double gasPressure, + Double volume, + Boolean highVoltage, + Double highVoltageValue, + Double spacing, + Double movingSpeed, + Double times, + List> positionList) { + sprayParams.setMatrixPathType(matrixPathType); + sprayParams.setMotorZHeight(motorZHeight); + sprayParams.setGasPressure(gasPressure); + sprayParams.setVolume(volume); + sprayParams.setHighVoltage(highVoltage); + sprayParams.setHighVoltageValue(highVoltageValue); + sprayParams.setSpacing(spacing); + sprayParams.setMovingSpeed(movingSpeed); + sprayParams.setTimes(times); + sprayParams.setPositionList(positionList); + } + + public synchronized void addSprayTaskSprayed(SprayTaskSprayed task) { + LinkedHashSet distinctNumbers = new LinkedHashSet<>(); + for (SprayTaskSprayed item : sprayTaskSprayedList) { + distinctNumbers.add(item.getSprayCount()); + } + if (!distinctNumbers.contains(task.getSprayCount()) && distinctNumbers.size() >= 120) { + Integer oldestNumber = distinctNumbers.iterator().next(); + sprayTaskSprayedList.removeIf(item -> item.getSprayCount().equals(oldestNumber)); + } + sprayTaskSprayedList.add(task); + } + + public void clear() { + cmdId = null; + cmdCode = null; + paused = false; + suspendable = false; + spraying = false; + sprayTaskStepList.clear(); + currentStep = 0; + firstImmobility = false; + sprayTaskSprayedList.clear(); + cacheParams = null; + } + + private static class Holder { + private static final SprayTask_bak INSTANCE = new SprayTask_bak(); + } + +} \ No newline at end of file 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 a8d42f3..c1451d0 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 @@ -1,96 +1,96 @@ -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.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.FrontResponseGenerator; -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.WebSocketService; -import com.qyft.ms.system.service.device.DeviceCommandService; -import lombok.RequiredArgsConstructor; -import lombok.extern.slf4j.Slf4j; -import org.springframework.stereotype.Component; - -import java.util.concurrent.CompletableFuture; - -/** - * 喷涂_喷涂过程中参数实时调整 - */ -@Slf4j -@Component -@RequiredArgsConstructor -@CommandMapping("matrix_spray_change_param")//业务指令注解 -public class MatrixSprayChangeParam extends BaseCommandHandler { - - private final DeviceCommandService deviceCommandService; - private final SysSettingsService sysSettingsService; - private final WebSocketService webSocketService; - - @Override - public CompletableFuture handle(FrontCmdControlForm form) { - SprayTask sprayTask = SprayTask.getInstance(); - if (!sprayTask.isSpraying() || sprayTask.isClosing()) {//判断设备是否正在喷涂 - webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_ERROR, "目前无法修改喷涂参数")); - throw new RuntimeException("目前无法修改喷涂参数"); - } - - Double motorZHeight = form.getDoubleParam("motorZHeight"); - Double gasPressure = form.getDoubleParam("gasPressure"); - Double volume = form.getDoubleParam("volume"); - Boolean highVoltage = form.getBooleanParam("highVoltage"); - Double highVoltageValue = form.getDoubleParam("highVoltageValue"); - Double movingSpeed = form.getDoubleParam("movingSpeed"); - - if (highVoltageValue!= null && highVoltageValue > 6000) { - webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_ERROR, "电压不能大于6000V")); - throw new RuntimeException("电压不能大于6000V"); - } - - 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); - } - } - - //3.z轴高度 - 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, sprayTask.getSprayParams().getMovingSpeed());//移动z轴到指定位置 - CommandFuture smotorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), smotorZPositionSetCommand); - - //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 - DeviceCommand motorZSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorZSpeedSet(movingSpeed);//z轴电机速度设置 - CommandFuture motorXSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXSpeedSetCmdToDeviceCommand); - CommandFuture motorYSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYSpeedSetCmdToDeviceCommand); - CommandFuture motorZSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZSpeedSetCmdToDeviceCommand); - - //2.流速 - DeviceCommand syringePumpVolumeSetCommand = DeviceCommandGenerator.syringePumpVolumeSet(volume);//注射泵流速设置 - CommandFuture syringePumpVolumeSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpVolumeSetCommand); - - commandWait(motorXSpeedSetCmdToDeviceCommandFuture, motorYSpeedSetCmdToDeviceCommandFuture, motorZSpeedSetCmdToDeviceCommandFuture, smotorZPositionSetCommandFuture, syringePumpVolumeSetCommandFuture); - - }); - - } -} +//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.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.FrontResponseGenerator; +//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.WebSocketService; +//import com.qyft.ms.system.service.device.DeviceCommandService; +//import lombok.RequiredArgsConstructor; +//import lombok.extern.slf4j.Slf4j; +//import org.springframework.stereotype.Component; +// +//import java.util.concurrent.CompletableFuture; +// +///** +// * 喷涂_喷涂过程中参数实时调整 +// */ +//@Slf4j +//@Component +//@RequiredArgsConstructor +//@CommandMapping("matrix_spray_change_param")//业务指令注解 +//public class MatrixSprayChangeParam extends BaseCommandHandler { +// +// private final DeviceCommandService deviceCommandService; +// private final SysSettingsService sysSettingsService; +// private final WebSocketService webSocketService; +// +// @Override +// public CompletableFuture handle(FrontCmdControlForm form) { +// SprayTask sprayTask = SprayTask.getInstance(); +// if (!sprayTask.isSpraying() || sprayTask.isClosing()) {//判断设备是否正在喷涂 +// webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_ERROR, "目前无法修改喷涂参数")); +// throw new RuntimeException("目前无法修改喷涂参数"); +// } +// +// Double motorZHeight = form.getDoubleParam("motorZHeight"); +// Double gasPressure = form.getDoubleParam("gasPressure"); +// Double volume = form.getDoubleParam("volume"); +// Boolean highVoltage = form.getBooleanParam("highVoltage"); +// Double highVoltageValue = form.getDoubleParam("highVoltageValue"); +// Double movingSpeed = form.getDoubleParam("movingSpeed"); +// +// if (highVoltageValue!= null && highVoltageValue > 6000) { +// webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_ERROR, "电压不能大于6000V")); +// throw new RuntimeException("电压不能大于6000V"); +// } +// +// 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); +// } +// } +// +// //3.z轴高度 +// 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, sprayTask.getSprayParams().getMovingSpeed());//移动z轴到指定位置 +// CommandFuture smotorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), smotorZPositionSetCommand); +// +// //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 +// DeviceCommand motorZSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorZSpeedSet(movingSpeed);//z轴电机速度设置 +// CommandFuture motorXSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXSpeedSetCmdToDeviceCommand); +// CommandFuture motorYSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYSpeedSetCmdToDeviceCommand); +// CommandFuture motorZSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZSpeedSetCmdToDeviceCommand); +// +// //2.流速 +// DeviceCommand syringePumpVolumeSetCommand = DeviceCommandGenerator.syringePumpVolumeSet(volume);//注射泵流速设置 +// CommandFuture syringePumpVolumeSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpVolumeSetCommand); +// +// commandWait(motorXSpeedSetCmdToDeviceCommandFuture, motorYSpeedSetCmdToDeviceCommandFuture, motorZSpeedSetCmdToDeviceCommandFuture, smotorZPositionSetCommandFuture, syringePumpVolumeSetCommandFuture); +// +// }); +// +// } +//} diff --git a/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayContinue.java b/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayContinue.java index 9972798..51d359b 100644 --- a/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayContinue.java +++ b/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayContinue.java @@ -1,67 +1,67 @@ -package com.qyft.ms.app.front.cmd.business; - -import com.qyft.ms.app.device.spray.SprayTaskExecutor; -import com.qyft.ms.app.device.status.DeviceStatus; -import com.qyft.ms.app.device.status.SprayTask; -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; -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.stereotype.Component; - -import java.util.concurrent.CompletableFuture; - -/** - * 喷涂_基质喷涂继续 - */ -@Slf4j -@Component -@RequiredArgsConstructor -@CommandMapping("matrix_spray_continue")//业务指令注解 -public class MatrixSprayContinue extends BaseCommandHandler { - - private final DeviceCommandService deviceCommandService; - private final SprayTaskExecutor sprayTaskExecutor; - private final DeviceStatus deviceStatus; - - @Override - public CompletableFuture handle(FrontCmdControlForm form) { - SprayTask sprayTask = SprayTask.getInstance(); - if (!sprayTask.isSpraying()) { - throw new RuntimeException("设备没有正在喷涂"); - } - sprayTask.setSpraying(true); - sprayTask.setPaused(false); - deviceStatus.setSpraying(true); - 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); - - DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen(); //打开喷嘴阀 - CommandFuture nozzleValveOpenCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleValveOpenCommand); - commandWait(nozzleValveOpenCommandFuture); - - DeviceCommand syringePumpForwardCommand = DeviceCommandGenerator.syringePumpForward(sprayTask.getSprayParams().getVolume()); //推动注射泵 - CommandFuture syringePumpForwardCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpForwardCommand); - commandWait(syringePumpForwardCommandFuture); - - sprayTask.setFirstImmobility(true); - sprayTaskExecutor.startTask(); - }); - - } -} +//package com.qyft.ms.app.front.cmd.business; +// +//import com.qyft.ms.app.device.spray.SprayTaskExecutor; +//import com.qyft.ms.app.device.status.DeviceStatus; +//import com.qyft.ms.app.device.status.SprayTask; +//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; +//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.stereotype.Component; +// +//import java.util.concurrent.CompletableFuture; +// +///** +// * 喷涂_基质喷涂继续 +// */ +//@Slf4j +//@Component +//@RequiredArgsConstructor +//@CommandMapping("matrix_spray_continue")//业务指令注解 +//public class MatrixSprayContinue extends BaseCommandHandler { +// +// private final DeviceCommandService deviceCommandService; +// private final SprayTaskExecutor sprayTaskExecutor; +// private final DeviceStatus deviceStatus; +// +// @Override +// public CompletableFuture handle(FrontCmdControlForm form) { +// SprayTask sprayTask = SprayTask.getInstance(); +// if (!sprayTask.isSpraying()) { +// throw new RuntimeException("设备没有正在喷涂"); +// } +// sprayTask.setSpraying(true); +// sprayTask.setPaused(false); +// deviceStatus.setSpraying(true); +// 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); +// +// DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen(); //打开喷嘴阀 +// CommandFuture nozzleValveOpenCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleValveOpenCommand); +// commandWait(nozzleValveOpenCommandFuture); +// +// DeviceCommand syringePumpForwardCommand = DeviceCommandGenerator.syringePumpForward(sprayTask.getSprayParams().getVolume()); //推动注射泵 +// CommandFuture syringePumpForwardCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpForwardCommand); +// commandWait(syringePumpForwardCommandFuture); +// +// sprayTask.setFirstImmobility(true); +// sprayTaskExecutor.startTask(); +// }); +// +// } +//} diff --git a/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayPause.java b/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayPause.java index b194540..e304927 100644 --- a/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayPause.java +++ b/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayPause.java @@ -1,64 +1,64 @@ -package com.qyft.ms.app.front.cmd.business; - - -import com.qyft.ms.app.device.spray.SprayTaskExecutor; -import com.qyft.ms.app.device.status.DeviceStatus; -import com.qyft.ms.app.device.status.SprayTask; -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; -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.stereotype.Component; - -import java.util.concurrent.CompletableFuture; - -/** - * 喷涂_基质喷涂暂停 - */ -@Slf4j -@Component -@RequiredArgsConstructor -@CommandMapping("matrix_spray_pause")//业务指令注解 -public class MatrixSprayPause extends BaseCommandHandler { - - private final DeviceCommandService deviceCommandService; - private final SprayTaskExecutor sprayTaskExecutor; - private final DeviceStatus deviceStatus; - - @Override - public CompletableFuture handle(FrontCmdControlForm form) { - SprayTask sprayTask = SprayTask.getInstance(); - if (!sprayTask.isSuspendable() || sprayTask.isClosing()) { - throw new RuntimeException("当前喷涂任务不可暂停"); - } - sprayTask.setPaused(true);//已暂停 - 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 - - DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop(); //停止推动注射泵 - CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpStopCommand); - DeviceCommand nozzleValveCloseCommand = DeviceCommandGenerator.nozzleValveClose(); //关闭喷嘴阀 - CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleValveCloseCommand); - DeviceCommand highVoltageCloseCommand = DeviceCommandGenerator.highVoltageClose(); //关闭高压 - CommandFuture highVoltageCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), highVoltageCloseCommand); - commandWait(syringePumpStopCommandFuture, nozzleValveCloseCommandFuture, highVoltageCloseCommandFuture); - - DeviceCommand motorXStopCommand = DeviceCommandGenerator.motorXStop(); //x轴停止移动 - DeviceCommand motorYStopCommand = DeviceCommandGenerator.motorYStop(); //y轴停止移动 - DeviceCommand motorZStopCommand = DeviceCommandGenerator.motorZStop(); //z轴停止移动 - CommandFuture motorXStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXStopCommand); - CommandFuture motorYStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYStopCommand); - CommandFuture motorZStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZStopCommand); - commandWait(motorXStopCommandFuture, motorYStopCommandFuture, motorZStopCommandFuture); - }); - } -} +//package com.qyft.ms.app.front.cmd.business; +// +// +//import com.qyft.ms.app.device.spray.SprayTaskExecutor; +//import com.qyft.ms.app.device.status.DeviceStatus; +//import com.qyft.ms.app.device.status.SprayTask; +//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; +//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.stereotype.Component; +// +//import java.util.concurrent.CompletableFuture; +// +///** +// * 喷涂_基质喷涂暂停 +// */ +//@Slf4j +//@Component +//@RequiredArgsConstructor +//@CommandMapping("matrix_spray_pause")//业务指令注解 +//public class MatrixSprayPause extends BaseCommandHandler { +// +// private final DeviceCommandService deviceCommandService; +// private final SprayTaskExecutor sprayTaskExecutor; +// private final DeviceStatus deviceStatus; +// +// @Override +// public CompletableFuture handle(FrontCmdControlForm form) { +// SprayTask sprayTask = SprayTask.getInstance(); +// if (!sprayTask.isSuspendable() || sprayTask.isClose()) { +// throw new RuntimeException("当前喷涂任务不可暂停"); +// } +// sprayTask.setPaused(true);//已暂停 +// 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 +// +// DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop(); //停止推动注射泵 +// CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpStopCommand); +// DeviceCommand nozzleValveCloseCommand = DeviceCommandGenerator.nozzleValveClose(); //关闭喷嘴阀 +// CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleValveCloseCommand); +// DeviceCommand highVoltageCloseCommand = DeviceCommandGenerator.highVoltageClose(); //关闭高压 +// CommandFuture highVoltageCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), highVoltageCloseCommand); +// commandWait(syringePumpStopCommandFuture, nozzleValveCloseCommandFuture, highVoltageCloseCommandFuture); +// +// DeviceCommand motorXStopCommand = DeviceCommandGenerator.motorXStop(); //x轴停止移动 +// DeviceCommand motorYStopCommand = DeviceCommandGenerator.motorYStop(); //y轴停止移动 +// DeviceCommand motorZStopCommand = DeviceCommandGenerator.motorZStop(); //z轴停止移动 +// CommandFuture motorXStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXStopCommand); +// CommandFuture motorYStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYStopCommand); +// CommandFuture motorZStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZStopCommand); +// commandWait(motorXStopCommandFuture, motorYStopCommandFuture, motorZStopCommandFuture); +// }); +// } +//} 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 5c6e685..49b7bda 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 @@ -60,8 +60,46 @@ public class MatrixSprayStart extends BaseCommandHandler { @Override public CompletableFuture 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, "设备正在喷涂，请先停止喷涂")); + throw new RuntimeException("设备正在喷涂，请先停止喷涂"); + } + if(sprayTask.getSprayTaskParams() == null){ + webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_ERROR, "未设置喷涂参数")); + throw new RuntimeException("未设置喷涂参数"); + } + sprayTask.setCmdId(form.getCmdId()); + sprayTask.setCmdCode(form.getCmdCode()); + sprayTask.setSpraying(true);//正在进行喷涂 + deviceStatus.setSpraying(true); + return runAsync(() -> { + //喷涂开始前先回原点 + DeviceCommand overallDeviceStatusGetCommand = DeviceCommandGenerator.overallDeviceStatusGet(); + CommandFuture overallDeviceStatusGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), overallDeviceStatusGetCommand); + commandWait(overallDeviceStatusGetCommandFuture); + + List futureList = new ArrayList<>(); + if (!overallDeviceStatusGetCommandFuture.getResponseResult().getJSONObject("data").getBool("xAxisAtOrigin")) { + DeviceCommand motorXOriginCommand = DeviceCommandGenerator.motorXOrigin(); // x轴回原点 + CommandFuture motorXOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXOriginCommand); + futureList.add(motorXOriginCommandFuture); + } + if (!overallDeviceStatusGetCommandFuture.getResponseResult().getJSONObject("data").getBool("yAxisAtOrigin")) { + DeviceCommand motorYOriginCommand = DeviceCommandGenerator.motorYOrigin();//y轴回原点 + CommandFuture motorYOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYOriginCommand); + futureList.add(motorYOriginCommandFuture); + } + if (!overallDeviceStatusGetCommandFuture.getResponseResult().getJSONObject("data").getBool("zAxisAtOrigin")) { + DeviceCommand motorZOriginCommand = DeviceCommandGenerator.motorZOrigin();//z轴回原点 + CommandFuture motorZOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZOriginCommand); + futureList.add(motorZOriginCommandFuture); + } + commandWait(futureList.toArray(new CommandFuture[0])); + 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/MatrixSprayStart_bak.java b/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayStart_bak.java index 7355f90..1d0cd1a 100644 --- a/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayStart_bak.java +++ b/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayStart_bak.java @@ -1,365 +1,365 @@ -package com.qyft.ms.app.front.cmd.business; - -import cn.hutool.json.JSONUtil; -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.DeviceStatus; -import com.qyft.ms.app.device.status.SprayTask; -import com.qyft.ms.app.model.bo.SprayTaskStep; -import com.qyft.ms.app.model.entity.OperationLog; -import com.qyft.ms.app.model.entity.Position; -import com.qyft.ms.app.service.OperationLogService; -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.FrontResponseGenerator; -import com.qyft.ms.system.common.utils.CheckedRunnable; -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.WebSocketService; -import com.qyft.ms.system.service.device.DeviceCommandService; -import lombok.RequiredArgsConstructor; -import lombok.extern.slf4j.Slf4j; -import org.springframework.stereotype.Component; - -import java.text.DecimalFormat; -import java.util.*; -import java.util.concurrent.CompletableFuture; -import java.util.concurrent.ExecutorService; -import java.util.concurrent.Executors; - -/** - * 喷涂_基质喷涂开始 - */ -@Slf4j -@Component -@RequiredArgsConstructor -@CommandMapping("matrix_spray_start_bak")//业务指令注解 -public class MatrixSprayStart_bak extends BaseCommandHandler { - private static final ExecutorService singleExecutor = Executors.newSingleThreadExecutor(); - - private final SprayTaskExecutor sprayTaskExecutor; - private final PositionService positionService; - private final DeviceStatus deviceStatus; - private final OperationLogService operationLogService; - private final WebSocketService webSocketService; - private final DeviceCommandService deviceCommandService; - - private void nonNullCheck(String cmdId, String cmdCode, - String matrixPathType, - Double motorZHeight, - Double gasPressure, - Double volume, - Boolean highVoltage, - Double spacing, - Double movingSpeed, - Double times, - Object position) { - - Map paramMap = new LinkedHashMap<>(); - paramMap.put("matrix_path_type", matrixPathType); - paramMap.put("motor_z_height", motorZHeight); - paramMap.put("gas_pressure", gasPressure); - paramMap.put("volume", volume); - paramMap.put("high_voltage", highVoltage); - paramMap.put("spacing", spacing); - paramMap.put("moving_speed", movingSpeed); - paramMap.put("times", times); - paramMap.put("position", position); - - // 遍历 Map 检查是否为 null - for (Map.Entry entry : paramMap.entrySet()) { - if (entry.getValue() == null) { - String errorMsg = "参数 " + entry.getKey() + " 必填"; - webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(cmdId, cmdCode, CommandStatus.DEVICE_ERROR, errorMsg)); - throw new RuntimeException(errorMsg); - } - } - } - - /** - * 使用单线程执行器保证线程安全，防止喷涂指令被多次调用 - */ - @Override - protected CompletableFuture runAsync(CheckedRunnable task) { - return CompletableFuture.runAsync(LambdaUtil.unchecked(task), singleExecutor); - } - - /** - * { - * cmdName:'matrix_spray_start' - * cmdId:'', - * param:{ - * matrix_path_type:horizontal | vertical | grid;//喷涂路径类型 - * motor_z_height:;//高度 Z轴距离玻片的高度 - * gas_pressure://Mpa兆帕 不处理 - * volume:20；//单位uL微升 基质流速(控制注射泵速度) - * high_voltage:true/false;//是否打开高压 - * high_voltage_value:4000;//高压值 - * spacing:''//毫米 间距 - * moving_speed:8mm/s;//移动速度 轴速度 - * times:;//喷涂遍数 - * position:[{x1,y1,x2,y2,index}] - * } - * } - */ - @Override - public CompletableFuture 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, "设备正在喷涂，请先停止喷涂")); - throw new RuntimeException("设备正在喷涂，请先停止喷涂"); - } - sprayTask.setCmdId(form.getCmdId()); - sprayTask.setCmdCode(form.getCmdCode()); - sprayTask.setSpraying(true);//正在进行喷涂 - deviceStatus.setSpraying(true); - - // 1. 参数校验 - String matrixPathType = form.getStringParam("matrixPathType"); - Double motorZHeight = form.getDoubleParam("motorZHeight"); - Double gasPressure = form.getDoubleParam("gasPressure"); - Double volume = form.getDoubleParam("volume"); - Boolean highVoltage = form.getBooleanParam("highVoltage"); - Double highVoltageValue = form.getDoubleParam("highVoltageValue"); - Double spacing = form.getDoubleParam("spacing"); - Double movingSpeed = form.getDoubleParam("movingSpeed"); - Double times = form.getDoubleParam("times"); - @SuppressWarnings("unchecked") - List> positionList = (List>) form.getParams().get("position"); - - nonNullCheck(matrixPathType, form.getCmdId(), form.getCmdCode(), motorZHeight, gasPressure, volume, highVoltage, spacing, movingSpeed, times, positionList); - if (highVoltageValue != null && highVoltageValue > 6000) { - webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_ERROR, "电压不能大于6000V")); - throw new RuntimeException("电压不能大于6000V"); - } - if (positionList.isEmpty()) { - webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_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(); - Long matrixCraftId = Long.valueOf(Optional.ofNullable(sprayTask.getCacheParams().get("matrixCraftId")) - .filter(Number.class::isInstance) - .map(Number.class::cast) - .map(Number::intValue) - .orElse(0)); - operationLog.setMatrixId(matrixCraftId); - 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<>(); - - 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()));//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()));//移动y轴 - } - deviceCommandList.add(deviceCommands); - } - - 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; - } - 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()));//移动x轴 - deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY()));//移动y轴 - } else { - 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); - } - 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()));//移动x轴 - deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY()));//移动y轴 - } else { - 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); - } - 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()));//移动x轴 - deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY()));//移动y轴 - } else { - 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); - } - SprayTaskStep sprayTaskStep2 = new SprayTaskStep(); - sprayTaskStep2.setIndex(index); - sprayTaskStep2.setSpraySteps(deviceCommandList); - sprayTask.getSprayTaskStepList().add(sprayTaskStep2); - } - } - } - return runAsync(() -> { - DeviceCommand overallDeviceStatusGetCommand = DeviceCommandGenerator.overallDeviceStatusGet(); - CommandFuture overallDeviceStatusGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), overallDeviceStatusGetCommand); - commandWait(overallDeviceStatusGetCommandFuture); - - CommandFuture motorXOriginCommandFuture; - CommandFuture motorYOriginCommandFuture; - CommandFuture motorZOriginCommandFuture; - - List futureList = new ArrayList<>(); - if (!overallDeviceStatusGetCommandFuture.getResponseResult().getJSONObject("data").getBool("xAxisAtOrigin")) { - DeviceCommand motorXOriginCommand = DeviceCommandGenerator.motorXOrigin(); // x轴回原点 - motorXOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXOriginCommand); - futureList.add(motorXOriginCommandFuture); - } - if (!overallDeviceStatusGetCommandFuture.getResponseResult().getJSONObject("data").getBool("yAxisAtOrigin")) { - DeviceCommand motorYOriginCommand = DeviceCommandGenerator.motorYOrigin();//y轴回原点 - motorYOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYOriginCommand); - futureList.add(motorYOriginCommandFuture); - } - if (!overallDeviceStatusGetCommandFuture.getResponseResult().getJSONObject("data").getBool("zAxisAtOrigin")) { - DeviceCommand motorZOriginCommand = DeviceCommandGenerator.motorZOrigin();//z轴回原点 - motorZOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZOriginCommand); - futureList.add(motorZOriginCommandFuture); - } - CommandFuture[] commandFutureArray = futureList.toArray(new CommandFuture[0]); - commandWait(commandFutureArray); - - DeviceCommand threeWayValveOpenSyringePipelineCommand = DeviceCommandGenerator.threeWayValveOpenNozzlePipeline();//打开三通阀注射器管路 - 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); - } - - 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")); - }); - } - - -} +//package com.qyft.ms.app.front.cmd.business; +// +//import cn.hutool.json.JSONUtil; +//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.DeviceStatus; +//import com.qyft.ms.app.device.status.SprayTask; +//import com.qyft.ms.app.model.bo.SprayTaskStep; +//import com.qyft.ms.app.model.entity.OperationLog; +//import com.qyft.ms.app.model.entity.Position; +//import com.qyft.ms.app.service.OperationLogService; +//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.FrontResponseGenerator; +//import com.qyft.ms.system.common.utils.CheckedRunnable; +//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.WebSocketService; +//import com.qyft.ms.system.service.device.DeviceCommandService; +//import lombok.RequiredArgsConstructor; +//import lombok.extern.slf4j.Slf4j; +//import org.springframework.stereotype.Component; +// +//import java.text.DecimalFormat; +//import java.util.*; +//import java.util.concurrent.CompletableFuture; +//import java.util.concurrent.ExecutorService; +//import java.util.concurrent.Executors; +// +///** +// * 喷涂_基质喷涂开始 +// */ +//@Slf4j +//@Component +//@RequiredArgsConstructor +//@CommandMapping("matrix_spray_start_bak")//业务指令注解 +//public class MatrixSprayStart_bak extends BaseCommandHandler { +// private static final ExecutorService singleExecutor = Executors.newSingleThreadExecutor(); +// +// private final SprayTaskExecutor sprayTaskExecutor; +// private final PositionService positionService; +// private final DeviceStatus deviceStatus; +// private final OperationLogService operationLogService; +// private final WebSocketService webSocketService; +// private final DeviceCommandService deviceCommandService; +// +// private void nonNullCheck(String cmdId, String cmdCode, +// String matrixPathType, +// Double motorZHeight, +// Double gasPressure, +// Double volume, +// Boolean highVoltage, +// Double spacing, +// Double movingSpeed, +// Double times, +// Object position) { +// +// Map paramMap = new LinkedHashMap<>(); +// paramMap.put("matrix_path_type", matrixPathType); +// paramMap.put("motor_z_height", motorZHeight); +// paramMap.put("gas_pressure", gasPressure); +// paramMap.put("volume", volume); +// paramMap.put("high_voltage", highVoltage); +// paramMap.put("spacing", spacing); +// paramMap.put("moving_speed", movingSpeed); +// paramMap.put("times", times); +// paramMap.put("position", position); +// +// // 遍历 Map 检查是否为 null +// for (Map.Entry entry : paramMap.entrySet()) { +// if (entry.getValue() == null) { +// String errorMsg = "参数 " + entry.getKey() + " 必填"; +// webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(cmdId, cmdCode, CommandStatus.DEVICE_ERROR, errorMsg)); +// throw new RuntimeException(errorMsg); +// } +// } +// } +// +// /** +// * 使用单线程执行器保证线程安全，防止喷涂指令被多次调用 +// */ +// @Override +// protected CompletableFuture runAsync(CheckedRunnable task) { +// return CompletableFuture.runAsync(LambdaUtil.unchecked(task), singleExecutor); +// } +// +// /** +// * { +// * cmdName:'matrix_spray_start' +// * cmdId:'', +// * param:{ +// * matrix_path_type:horizontal | vertical | grid;//喷涂路径类型 +// * motor_z_height:;//高度 Z轴距离玻片的高度 +// * gas_pressure://Mpa兆帕 不处理 +// * volume:20；//单位uL微升 基质流速(控制注射泵速度) +// * high_voltage:true/false;//是否打开高压 +// * high_voltage_value:4000;//高压值 +// * spacing:''//毫米 间距 +// * moving_speed:8mm/s;//移动速度 轴速度 +// * times:;//喷涂遍数 +// * position:[{x1,y1,x2,y2,index}] +// * } +// * } +// */ +// @Override +// public CompletableFuture 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, "设备正在喷涂，请先停止喷涂")); +// throw new RuntimeException("设备正在喷涂，请先停止喷涂"); +// } +// sprayTask.setCmdId(form.getCmdId()); +// sprayTask.setCmdCode(form.getCmdCode()); +// sprayTask.setSpraying(true);//正在进行喷涂 +// deviceStatus.setSpraying(true); +// +// // 1. 参数校验 +// String matrixPathType = form.getStringParam("matrixPathType"); +// Double motorZHeight = form.getDoubleParam("motorZHeight"); +// Double gasPressure = form.getDoubleParam("gasPressure"); +// Double volume = form.getDoubleParam("volume"); +// Boolean highVoltage = form.getBooleanParam("highVoltage"); +// Double highVoltageValue = form.getDoubleParam("highVoltageValue"); +// Double spacing = form.getDoubleParam("spacing"); +// Double movingSpeed = form.getDoubleParam("movingSpeed"); +// Double times = form.getDoubleParam("times"); +// @SuppressWarnings("unchecked") +// List> positionList = (List>) form.getParams().get("position"); +// +// nonNullCheck(matrixPathType, form.getCmdId(), form.getCmdCode(), motorZHeight, gasPressure, volume, highVoltage, spacing, movingSpeed, times, positionList); +// if (highVoltageValue != null && highVoltageValue > 6000) { +// webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_ERROR, "电压不能大于6000V")); +// throw new RuntimeException("电压不能大于6000V"); +// } +// if (positionList.isEmpty()) { +// webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_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(); +// Long matrixCraftId = Long.valueOf(Optional.ofNullable(sprayTask.getCacheParams().get("matrixCraftId")) +// .filter(Number.class::isInstance) +// .map(Number.class::cast) +// .map(Number::intValue) +// .orElse(0)); +// operationLog.setMatrixId(matrixCraftId); +// 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<>(); +// +// 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()));//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()));//移动y轴 +// } +// deviceCommandList.add(deviceCommands); +// } +// +// SprayTaskStep sprayTaskStep = new SprayTaskStep(); +// sprayTaskStep.setIndex(index); +// sprayTaskStep.setSprayPathPointList(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; +// } +// 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()));//移动x轴 +// deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY()));//移动y轴 +// } else { +// 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); +// } +// SprayTaskStep sprayTaskStep = new SprayTaskStep(); +// sprayTaskStep.setIndex(index); +// sprayTaskStep.setSprayPathPointList(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()));//移动x轴 +// deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY()));//移动y轴 +// } else { +// 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); +// } +// SprayTaskStep sprayTaskStep = new SprayTaskStep(); +// sprayTaskStep.setIndex(index); +// sprayTaskStep.setSprayPathPointList(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()));//移动x轴 +// deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY()));//移动y轴 +// } else { +// 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); +// } +// SprayTaskStep sprayTaskStep2 = new SprayTaskStep(); +// sprayTaskStep2.setIndex(index); +// sprayTaskStep2.setSprayPathPointList(deviceCommandList); +// sprayTask.getSprayTaskStepList().add(sprayTaskStep2); +// } +// } +// } +// return runAsync(() -> { +// DeviceCommand overallDeviceStatusGetCommand = DeviceCommandGenerator.overallDeviceStatusGet(); +// CommandFuture overallDeviceStatusGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), overallDeviceStatusGetCommand); +// commandWait(overallDeviceStatusGetCommandFuture); +// +// CommandFuture motorXOriginCommandFuture; +// CommandFuture motorYOriginCommandFuture; +// CommandFuture motorZOriginCommandFuture; +// +// List futureList = new ArrayList<>(); +// if (!overallDeviceStatusGetCommandFuture.getResponseResult().getJSONObject("data").getBool("xAxisAtOrigin")) { +// DeviceCommand motorXOriginCommand = DeviceCommandGenerator.motorXOrigin(); // x轴回原点 +// motorXOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXOriginCommand); +// futureList.add(motorXOriginCommandFuture); +// } +// if (!overallDeviceStatusGetCommandFuture.getResponseResult().getJSONObject("data").getBool("yAxisAtOrigin")) { +// DeviceCommand motorYOriginCommand = DeviceCommandGenerator.motorYOrigin();//y轴回原点 +// motorYOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYOriginCommand); +// futureList.add(motorYOriginCommandFuture); +// } +// if (!overallDeviceStatusGetCommandFuture.getResponseResult().getJSONObject("data").getBool("zAxisAtOrigin")) { +// DeviceCommand motorZOriginCommand = DeviceCommandGenerator.motorZOrigin();//z轴回原点 +// motorZOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZOriginCommand); +// futureList.add(motorZOriginCommandFuture); +// } +// CommandFuture[] commandFutureArray = futureList.toArray(new CommandFuture[0]); +// commandWait(commandFutureArray); +// +// DeviceCommand threeWayValveOpenSyringePipelineCommand = DeviceCommandGenerator.threeWayValveOpenNozzlePipeline();//打开三通阀注射器管路 +// 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); +// } +// +// 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 9f8d905..d195252 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 @@ -40,13 +40,13 @@ public class MatrixSprayStop extends BaseCommandHandler { if (!sprayTask.isSpraying()) { throw new RuntimeException("设备没有正在喷涂"); } - if (sprayTask.isClosing()) { + if (sprayTask.isClose()) { throw new RuntimeException("正在结束喷涂，请稍后"); } webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SPRAY_TASK_FINISH, "喷涂任务结束")); return runAsync(() -> { - sprayTask.setClosing(true); + sprayTask.setClose(true); try { sprayTaskExecutor.stopTask();//终止喷涂任务线程 @@ -80,7 +80,7 @@ public class MatrixSprayStop extends BaseCommandHandler { deviceStatus.setPaused(false); deviceStatus.setSuspendable(false); } finally { - sprayTask.setClosing(false); + sprayTask.setClose(false); } }); diff --git a/src/main/java/com/qyft/ms/app/model/bo/Point2D.java b/src/main/java/com/qyft/ms/app/model/bo/Point2D.java index a055a6b..88dc599 100644 --- a/src/main/java/com/qyft/ms/app/model/bo/Point2D.java +++ b/src/main/java/com/qyft/ms/app/model/bo/Point2D.java @@ -4,8 +4,8 @@ import lombok.Data; @Data public class Point2D { - private double x; - private double y; + public double x; + public double y; public Point2D(double x, double y) { this.x = x; diff --git a/src/main/java/com/qyft/ms/app/model/bo/SprayTaskStep.java b/src/main/java/com/qyft/ms/app/model/bo/SprayTaskStep.java index 626adf9..774216d 100644 --- a/src/main/java/com/qyft/ms/app/model/bo/SprayTaskStep.java +++ b/src/main/java/com/qyft/ms/app/model/bo/SprayTaskStep.java @@ -1,6 +1,5 @@ package com.qyft.ms.app.model.bo; -import com.qyft.ms.system.model.bo.DeviceCommand; import io.swagger.v3.oas.annotations.media.Schema; import lombok.Data; @@ -10,13 +9,8 @@ import java.util.List; @Schema(description = "喷涂任务点位步骤") public class SprayTaskStep { /** - * 玻片序号 - */ - @Schema(description = "玻片序号") - private Integer index; - /** * 单词喷涂的完整路线步骤 */ - @Schema(description = "单词喷涂的完整路线步骤") - private List> spraySteps; + @Schema(description = "单次喷涂的完整路线步骤") + private List sprayPathPointList; } \ No newline at end of file diff --git a/src/main/java/com/qyft/ms/app/model/bo/SprayTimes.java b/src/main/java/com/qyft/ms/app/model/bo/SprayTimes.java index c35d193..c6a3472 100644 --- a/src/main/java/com/qyft/ms/app/model/bo/SprayTimes.java +++ b/src/main/java/com/qyft/ms/app/model/bo/SprayTimes.java @@ -25,16 +25,16 @@ public class SprayTimes { @Schema(description = "高压值") private Double highVoltageValue; - @Schema(description = " 喷涂间距（毫米）") + @Schema(description = "喷涂间距（毫米）") private Double spacing; @Schema(description = "轴移动速度") private Double movingSpeed; - @Schema(description = "田字格喷涂中间延时毫秒数，非田字格不传递该参数") + @Schema(description = "田字格喷涂中间延时数，非田字格不传递该参数") private Double gridDelay; - @Schema(description = "本次喷涂结束后延时毫秒数") + @Schema(description = "本次喷涂结束后延时数") private Double delay; @Schema(description = "喷涂左上角x") diff --git a/src/main/java/com/qyft/ms/app/service/SprayTaskService.java b/src/main/java/com/qyft/ms/app/service/SprayTaskService.java index 99b6aed..e986e09 100644 --- a/src/main/java/com/qyft/ms/app/service/SprayTaskService.java +++ b/src/main/java/com/qyft/ms/app/service/SprayTaskService.java @@ -1,8 +1,14 @@ package com.qyft.ms.app.service; +import com.qyft.ms.app.device.status.SprayTask; +import com.qyft.ms.app.model.bo.SprayTaskParams; +import com.qyft.ms.app.model.dto.SetSprayTaskParamsDTO; import lombok.RequiredArgsConstructor; import org.springframework.stereotype.Service; +import java.util.Comparator; +import java.util.List; + /** * 喷涂任务服务 */ @@ -10,4 +16,13 @@ import org.springframework.stereotype.Service; @RequiredArgsConstructor public class SprayTaskService { + public void setSprayParams(SetSprayTaskParamsDTO setSprayTaskParamsDTO){ + if(setSprayTaskParamsDTO.getSprayTaskParams() != null){ + SprayTask sprayTask = SprayTask.getInstance(); + List sprayTaskParams = setSprayTaskParamsDTO.getSprayTaskParams(); + sprayTaskParams.sort(Comparator.comparing(SprayTaskParams::getIndex)); + sprayTask.setSprayTaskParams(sprayTaskParams); + } + } + } diff --git a/src/main/java/com/qyft/ms/system/service/device/DeviceCommandService.java b/src/main/java/com/qyft/ms/system/service/device/DeviceCommandService.java index 1a0ee14..3d11996 100644 --- a/src/main/java/com/qyft/ms/system/service/device/DeviceCommandService.java +++ b/src/main/java/com/qyft/ms/system/service/device/DeviceCommandService.java @@ -30,6 +30,7 @@ public class DeviceCommandService { private final WebSocketService webSocketService; private final DeviceStatus deviceStatus; private final ApplicationEventPublisher publisher; + private final Object pauseLock = new Object(); public CommandFuture executeCommand(DeviceCommand cmdToDevice) { int cmdId = CyclicNumberGenerator.getInstance().generateNumber(); @@ -75,7 +76,12 @@ public class DeviceCommandService { public CommandFuture sendCommandSprayTask(String cmdId, String cmdCode, DeviceCommand deviceCommand) throws Exception { SprayTask sprayTask = SprayTask.getInstance(); - if (sprayTask.isClosing() || Thread.currentThread().isInterrupted()) { + synchronized (pauseLock) { + while (sprayTask.isPaused()) { + pauseLock.wait(); + } + } + if (sprayTask.isClose() || Thread.currentThread().isInterrupted()) { throw new InterruptedException(); } return sendCommand(cmdId, cmdCode, deviceCommand);