From 8fd25f10e7b9f78ef4330e007d919cbab1a84f4d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= Date: Sun, 13 Jul 2025 19:59:02 +0800 Subject: [PATCH] =?UTF-8?q?fix:=E5=A2=9E=E5=8A=A0=E5=96=B7=E6=B6=82?= =?UTF-8?q?=E5=89=8D=E8=AE=BE=E7=BD=AE=E5=96=B7=E6=B6=82=E5=8F=82=E6=95=B0?= =?UTF-8?q?=E6=8E=A5=E5=8F=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../ms/app/controller/SprayTaskController.java | 16 +- .../app/front/cmd/business/MatrixSprayStart.java | 296 ----------------- .../front/cmd/business/MatrixSprayStart_bak.java | 365 +++++++++++++++++++++ .../com/qyft/ms/app/model/bo/SprayTaskParams.java | 18 + .../ms/app/model/dto/SetSprayTaskParamsDTO.java | 14 + .../qyft/ms/app/model/vo/GetSprayTaskParamsVO.java | 14 + 6 files changed, 417 insertions(+), 306 deletions(-) create mode 100644 src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayStart_bak.java create mode 100644 src/main/java/com/qyft/ms/app/model/bo/SprayTaskParams.java create mode 100644 src/main/java/com/qyft/ms/app/model/dto/SetSprayTaskParamsDTO.java create mode 100644 src/main/java/com/qyft/ms/app/model/vo/GetSprayTaskParamsVO.java 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 fbb966f..3ff6009 100644 --- a/src/main/java/com/qyft/ms/app/controller/SprayTaskController.java +++ b/src/main/java/com/qyft/ms/app/controller/SprayTaskController.java @@ -1,6 +1,8 @@ package com.qyft.ms.app.controller; import com.qyft.ms.app.device.status.SprayTask; +import com.qyft.ms.app.model.dto.SetSprayTaskParamsDTO; +import com.qyft.ms.app.model.vo.GetSprayTaskParamsVO; import com.qyft.ms.app.model.vo.SprayTaskStatusVO; import com.qyft.ms.app.service.SprayTaskService; import com.qyft.ms.system.common.result.Result; @@ -8,10 +10,9 @@ import io.swagger.v3.oas.annotations.Operation; import io.swagger.v3.oas.annotations.tags.Tag; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; -import org.springframework.web.bind.annotation.GetMapping; -import org.springframework.web.bind.annotation.PostMapping; -import org.springframework.web.bind.annotation.RequestMapping; -import org.springframework.web.bind.annotation.RestController; +import org.springframework.web.bind.annotation.*; + +import java.util.List; @Tag(name = "喷涂任务接口") @RestController @@ -35,13 +36,8 @@ public class SprayTaskController { @Operation(summary = "设置喷涂参数") @PostMapping("/set-params") - public Result setSprayParams() { + public Result setSprayParams(@RequestBody SetSprayTaskParamsDTO setSprayTaskParamsDTO) { return Result.success(); } - @Operation(summary = "获取当前喷涂参数") - @GetMapping("/get-params") - public Result getSprayParams() { - return Result.success(); - } } 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 c2078f3..5c6e685 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 @@ -50,38 +50,6 @@ public class MatrixSprayStart extends BaseCommandHandler { 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 */ @@ -90,274 +58,10 @@ public class MatrixSprayStart extends BaseCommandHandler { 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")); }); } 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 new file mode 100644 index 0000000..7355f90 --- /dev/null +++ b/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayStart_bak.java @@ -0,0 +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")); + }); + } + + +} diff --git a/src/main/java/com/qyft/ms/app/model/bo/SprayTaskParams.java b/src/main/java/com/qyft/ms/app/model/bo/SprayTaskParams.java new file mode 100644 index 0000000..774e4cd --- /dev/null +++ b/src/main/java/com/qyft/ms/app/model/bo/SprayTaskParams.java @@ -0,0 +1,18 @@ +package com.qyft.ms.app.model.bo; + +import io.swagger.v3.oas.annotations.media.Schema; +import lombok.Data; + +import java.util.List; + +@Data +@Schema(description = "多次喷涂每次喷涂的参数") +public class SprayTaskParams { + + private Integer index; + + private Long matrixId; + + private List times; + +} \ No newline at end of file diff --git a/src/main/java/com/qyft/ms/app/model/dto/SetSprayTaskParamsDTO.java b/src/main/java/com/qyft/ms/app/model/dto/SetSprayTaskParamsDTO.java new file mode 100644 index 0000000..031b02e --- /dev/null +++ b/src/main/java/com/qyft/ms/app/model/dto/SetSprayTaskParamsDTO.java @@ -0,0 +1,14 @@ +package com.qyft.ms.app.model.dto; + +import com.qyft.ms.app.model.bo.SprayTaskParams; +import com.qyft.ms.app.model.bo.SprayTimes; +import lombok.Data; + +import java.util.List; + +@Data +public class SetSprayTaskParamsDTO { + + private List sprayTaskParams; + +} diff --git a/src/main/java/com/qyft/ms/app/model/vo/GetSprayTaskParamsVO.java b/src/main/java/com/qyft/ms/app/model/vo/GetSprayTaskParamsVO.java new file mode 100644 index 0000000..2896017 --- /dev/null +++ b/src/main/java/com/qyft/ms/app/model/vo/GetSprayTaskParamsVO.java @@ -0,0 +1,14 @@ +package com.qyft.ms.app.model.vo; + +import com.qyft.ms.app.model.bo.SprayTaskParams; +import com.qyft.ms.app.model.bo.SprayTimes; +import lombok.Data; + +import java.util.List; + +@Data +public class GetSprayTaskParamsVO { + + private List sprayTaskParams; + +}