feat:实现喷涂过程中参数实时调整

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

@@ -20,11 +20,6 @@ public class SprayTask {
     private volatile boolean paused = false;
 
     /**
-     * 当前状态是否可以暂停
-     */
-    private volatile boolean suspendable = false;
-
-    /**
      * 设备是否正在进行的喷涂任务
      */
     private volatile boolean spraying = false;
@@ -56,6 +51,15 @@ public class SprayTask {
         spraySteps.add(Arrays.asList(steps));
     }
 
+    public void setChangeSprayParam(Double motorZHeight,
+                                    Double gasPressure,
+                                    Double volume,
+                                    Boolean highVoltage,
+                                    Double highVoltageValue,
+                                    Double movingSpeed){
+
+    }
+
     public void setSprayParam(String matrixPathType,
                               Double motorZHeight,
                               Double gasPressure,

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

@@ -0,0 +1,72 @@
+package com.qyft.ms.app.front.cmd.business;
+
+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 org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
+
+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;
+
+    @Override
+    public CompletableFuture<Void> handle(FrontCmdControlForm form, ResponseBodyEmitter emitter) {
+        return runAsync(() -> {
+            SprayTask sprayTask = SprayTask.getInstance();
+            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");
+            sprayTask.setChangeSprayParam(motorZHeight, gasPressure, volume, highVoltage, highVoltageValue, movingSpeed);
+            if (!sprayTask.isPaused()) {
+                //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(motorXSpeedSetCmdToDeviceCommand, form, emitter);
+                CommandFuture motorYSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(motorYSpeedSetCmdToDeviceCommand, form, emitter);
+                CommandFuture motorZSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(motorZSpeedSetCmdToDeviceCommand, form, emitter);
+                commandWait(motorXSpeedSetCmdToDeviceCommandFuture, motorYSpeedSetCmdToDeviceCommandFuture, motorZSpeedSetCmdToDeviceCommandFuture);
+                //2.流速
+                DeviceCommand syringePumpVolumeSetCommand = DeviceCommandGenerator.syringePumpVolumeSet(volume);//注射泵流速设置
+                CommandFuture syringePumpVolumeSetCommandFuture = deviceCommandService.sendCommand(syringePumpVolumeSetCommand, form, emitter);
+                commandWait(syringePumpVolumeSetCommandFuture);
+                //3.z轴高度
+                Double height = 101.2 - motorZHeight;//TODO 101.2是玻片高度，这个应该从数据库中获取
+                DeviceCommand smotorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(height);//移动z轴到指定位置
+                CommandFuture smotorZPositionSetCommandFuture = deviceCommandService.sendCommand(smotorZPositionSetCommand, form, emitter);
+                commandWait(smotorZPositionSetCommandFuture);
+                //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(highVoltageOpenCommand, form, emitter);
+                    commandWait(highVoltageOpenCommandFuture);
+                } else {//关闭高压
+                    DeviceCommand highVoltageCloseCommand = DeviceCommandGenerator.highVoltageClose();//关闭高压
+                    CommandFuture highVoltageCloseCommandFuture = deviceCommandService.sendCommand(highVoltageCloseCommand, form, emitter);
+                    commandWait(highVoltageCloseCommandFuture);
+                }
+            }
+        });
+
+    }
+}