From 6b589ac557f51bc08ff51b1fbe63e6d479b76d9d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= Date: Fri, 21 Mar 2025 03:37:29 +0800 Subject: [PATCH] =?UTF-8?q?=E6=88=91=E4=B9=9F=E4=B8=8D=E7=9F=A5=E9=81=93?= =?UTF-8?q?=E6=94=B9=E4=BA=86=E4=BB=80=E4=B9=88?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../ms/app/front/cmd/business/DeviceSelfTest.java | 23 +++++++++++++++++----- .../front/cmd/business/NozzlePipelinePreFill.java | 4 ++-- .../app/front/cmd/business/NozzlePipelineWash.java | 4 ++-- .../front/cmd/business/SyringePipelineWash.java | 4 ++-- .../qyft/ms/app/front/cmd/debug/MotorXMove.java | 2 +- .../qyft/ms/app/front/cmd/debug/MotorYMove.java | 2 +- .../qyft/ms/app/front/cmd/debug/MotorZMove.java | 2 +- 7 files changed, 27 insertions(+), 14 deletions(-) diff --git a/src/main/java/com/qyft/ms/app/front/cmd/business/DeviceSelfTest.java b/src/main/java/com/qyft/ms/app/front/cmd/business/DeviceSelfTest.java index 3e2a364..9f1c6f7 100644 --- a/src/main/java/com/qyft/ms/app/front/cmd/business/DeviceSelfTest.java +++ b/src/main/java/com/qyft/ms/app/front/cmd/business/DeviceSelfTest.java @@ -39,11 +39,24 @@ public class DeviceSelfTest extends BaseCommandHandler { DeviceCommand motorZOriginCommand = DeviceCommandGenerator.motorZOrigin();//z轴回原点 CommandFuture motorZOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZOriginCommand); commandWait(motorXOriginCommandFuture, motorYOriginCommandFuture, motorZOriginCommandFuture); - - selfTestService.getSelfTestStatus().setXAxisAtOrigin(true); - selfTestService.getSelfTestStatus().setYAxisAtOrigin(true); - selfTestService.getSelfTestStatus().setZAxisAtOrigin(true); - + try { + if (motorXOriginCommandFuture.getResponseResult().getBool("status")) { + selfTestService.getSelfTestStatus().setXAxisAtOrigin(true); + } + } catch (Exception ignored) { + } + try { + if (motorYOriginCommandFuture.getResponseResult().getBool("status")) { + selfTestService.getSelfTestStatus().setYAxisAtOrigin(true); + } + } catch (Exception ignored) { + } + try { + if (motorZOriginCommandFuture.getResponseResult().getBool("status")) { + selfTestService.getSelfTestStatus().setZAxisAtOrigin(true); + } + } catch (Exception ignored) { + } deviceStatus.setSelfTestCompleted(true); }); } diff --git a/src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelinePreFill.java b/src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelinePreFill.java index 1b4c575..2fff4ef 100644 --- a/src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelinePreFill.java +++ b/src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelinePreFill.java @@ -55,8 +55,8 @@ public class NozzlePipelinePreFill extends BaseCommandHandler { CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXyzPositionGetCommand); commandWait(motorXyzPositionGetCommandFuture); JSONObject motorXyzPositionGetCommandDeviceResult = motorXyzPositionGetCommandFuture.getResponseResult(); - Double zAxisPosition = motorXyzPositionGetCommandDeviceResult.getDouble("zAxisPosition"); - if (zAxisPosition == null || zAxisPosition < 0.0) { + Double zAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("zAxisPosition"); + if (zAxisPosition == null) { webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.ERROR, "获得电机XYZ相对原点坐标失败")); throw new RuntimeException("获得电机XYZ相对原点坐标失败"); } diff --git a/src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelineWash.java b/src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelineWash.java index 9d7ebd6..c2a07ae 100644 --- a/src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelineWash.java +++ b/src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelineWash.java @@ -51,8 +51,8 @@ public class NozzlePipelineWash extends BaseCommandHandler { CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXyzPositionGetCommand); commandWait(motorXyzPositionGetCommandFuture); JSONObject motorXyzPositionGetCommandDeviceResult = motorXyzPositionGetCommandFuture.getResponseResult(); - Double zAxisPosition = motorXyzPositionGetCommandDeviceResult.getDouble("zAxisPosition"); - if (zAxisPosition == null || zAxisPosition < 0.0) { + Double zAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("zAxisPosition"); + if (zAxisPosition == null) { webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.ERROR, "获得电机XYZ相对原点坐标失败", motorXyzPositionGetCommandDeviceResult)); throw new RuntimeException("获得电机XYZ相对原点坐标失败"); } diff --git a/src/main/java/com/qyft/ms/app/front/cmd/business/SyringePipelineWash.java b/src/main/java/com/qyft/ms/app/front/cmd/business/SyringePipelineWash.java index db6bd72..b062994 100644 --- a/src/main/java/com/qyft/ms/app/front/cmd/business/SyringePipelineWash.java +++ b/src/main/java/com/qyft/ms/app/front/cmd/business/SyringePipelineWash.java @@ -56,8 +56,8 @@ public class SyringePipelineWash extends BaseCommandHandler { CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXyzPositionGetCommand); commandWait(motorXyzPositionGetCommandFuture); JSONObject motorXyzPositionGetCommandDeviceResult = motorXyzPositionGetCommandFuture.getResponseResult(); - Double zAxisPosition = motorXyzPositionGetCommandDeviceResult.getDouble("zAxisPosition"); - if (zAxisPosition == null || zAxisPosition < 0.0) { + Double zAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("zAxisPosition"); + if (zAxisPosition == null) { webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.ERROR, "获得电机XYZ相对原点坐标失败", motorXyzPositionGetCommandDeviceResult)); throw new RuntimeException("获得电机XYZ相对原点坐标失败"); } diff --git a/src/main/java/com/qyft/ms/app/front/cmd/debug/MotorXMove.java b/src/main/java/com/qyft/ms/app/front/cmd/debug/MotorXMove.java index d2d04f2..a7303ac 100644 --- a/src/main/java/com/qyft/ms/app/front/cmd/debug/MotorXMove.java +++ b/src/main/java/com/qyft/ms/app/front/cmd/debug/MotorXMove.java @@ -37,7 +37,7 @@ public class MotorXMove extends BaseCommandHandler { commandWait(motorXyzPositionGetCommandFuture); JSONObject motorXyzPositionGetCommandResult = motorXyzPositionGetCommandFuture.getResponseResult(); - Double xAxisPosition = motorXyzPositionGetCommandResult.getDouble("xAxisPosition"); + Double xAxisPosition = motorXyzPositionGetCommandResult.getJSONObject("data").getDouble("xAxisPosition"); // 计算目标位置 double finalPosition = 0.0; diff --git a/src/main/java/com/qyft/ms/app/front/cmd/debug/MotorYMove.java b/src/main/java/com/qyft/ms/app/front/cmd/debug/MotorYMove.java index dbb64a3..946aac3 100644 --- a/src/main/java/com/qyft/ms/app/front/cmd/debug/MotorYMove.java +++ b/src/main/java/com/qyft/ms/app/front/cmd/debug/MotorYMove.java @@ -36,7 +36,7 @@ public class MotorYMove extends BaseCommandHandler { CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXyzPositionGetCommand); commandWait(motorXyzPositionGetCommandFuture); JSONObject motorXyzPositionGetCommandDeviceResult = motorXyzPositionGetCommandFuture.getResponseResult(); - Double yAxisPosition = motorXyzPositionGetCommandDeviceResult.getDouble("yAxisPosition"); + Double yAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("yAxisPosition"); // 计算目标位置 double finalPosition = 0.0; diff --git a/src/main/java/com/qyft/ms/app/front/cmd/debug/MotorZMove.java b/src/main/java/com/qyft/ms/app/front/cmd/debug/MotorZMove.java index c79872b..fcf5a9b 100644 --- a/src/main/java/com/qyft/ms/app/front/cmd/debug/MotorZMove.java +++ b/src/main/java/com/qyft/ms/app/front/cmd/debug/MotorZMove.java @@ -37,7 +37,7 @@ public class MotorZMove extends BaseCommandHandler { CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXyzPositionGetCommand); commandWait(motorXyzPositionGetCommandFuture); JSONObject motorXyzPositionGetCommandDeviceResult = motorXyzPositionGetCommandFuture.getResponseResult(); - Double zAxisPosition = motorXyzPositionGetCommandDeviceResult.getDouble("zAxisPosition"); + Double zAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("zAxisPosition"); // 根据方向计算最终位置 double finalPosition = 0.0;