6 changed files with 417 additions and 306 deletions
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16src/main/java/com/qyft/ms/app/controller/SprayTaskController.java
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296src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayStart.java
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365src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayStart_bak.java
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18src/main/java/com/qyft/ms/app/model/bo/SprayTaskParams.java
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14src/main/java/com/qyft/ms/app/model/dto/SetSprayTaskParamsDTO.java
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14src/main/java/com/qyft/ms/app/model/vo/GetSprayTaskParamsVO.java
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package com.qyft.ms.app.front.cmd.business; |
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import cn.hutool.json.JSONUtil; |
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; |
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import com.qyft.ms.app.common.generator.PathGenerator; |
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import com.qyft.ms.app.device.spray.SprayTaskExecutor; |
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import com.qyft.ms.app.device.status.DeviceStatus; |
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import com.qyft.ms.app.device.status.SprayTask; |
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import com.qyft.ms.app.model.bo.SprayTaskStep; |
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import com.qyft.ms.app.model.entity.OperationLog; |
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import com.qyft.ms.app.model.entity.Position; |
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import com.qyft.ms.app.service.OperationLogService; |
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import com.qyft.ms.app.service.PositionService; |
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import com.qyft.ms.system.common.annotation.CommandMapping; |
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import com.qyft.ms.system.common.constant.CommandStatus; |
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import com.qyft.ms.system.common.device.command.CommandFuture; |
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import com.qyft.ms.system.common.device.command.DeviceCommandGenerator; |
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import com.qyft.ms.system.common.device.command.FrontResponseGenerator; |
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import com.qyft.ms.system.common.utils.CheckedRunnable; |
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import com.qyft.ms.system.common.utils.LambdaUtil; |
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import com.qyft.ms.system.core.handler.BaseCommandHandler; |
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import com.qyft.ms.system.model.bo.DeviceCommand; |
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import com.qyft.ms.system.model.form.FrontCmdControlForm; |
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import com.qyft.ms.system.service.WebSocketService; |
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import com.qyft.ms.system.service.device.DeviceCommandService; |
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import lombok.RequiredArgsConstructor; |
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import lombok.extern.slf4j.Slf4j; |
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import org.springframework.stereotype.Component; |
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import java.text.DecimalFormat; |
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import java.util.*; |
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import java.util.concurrent.CompletableFuture; |
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import java.util.concurrent.ExecutorService; |
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import java.util.concurrent.Executors; |
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/** |
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* 喷涂_基质喷涂开始 |
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*/ |
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@Slf4j |
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@Component |
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@RequiredArgsConstructor |
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@CommandMapping("matrix_spray_start_bak")//业务指令注解 |
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public class MatrixSprayStart_bak extends BaseCommandHandler { |
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private static final ExecutorService singleExecutor = Executors.newSingleThreadExecutor(); |
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private final SprayTaskExecutor sprayTaskExecutor; |
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private final PositionService positionService; |
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private final DeviceStatus deviceStatus; |
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private final OperationLogService operationLogService; |
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private final WebSocketService webSocketService; |
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private final DeviceCommandService deviceCommandService; |
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private void nonNullCheck(String cmdId, String cmdCode, |
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String matrixPathType, |
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Double motorZHeight, |
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Double gasPressure, |
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Double volume, |
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Boolean highVoltage, |
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Double spacing, |
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Double movingSpeed, |
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Double times, |
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Object position) { |
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Map<String, Object> paramMap = new LinkedHashMap<>(); |
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paramMap.put("matrix_path_type", matrixPathType); |
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paramMap.put("motor_z_height", motorZHeight); |
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paramMap.put("gas_pressure", gasPressure); |
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paramMap.put("volume", volume); |
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paramMap.put("high_voltage", highVoltage); |
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paramMap.put("spacing", spacing); |
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paramMap.put("moving_speed", movingSpeed); |
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paramMap.put("times", times); |
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paramMap.put("position", position); |
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// 遍历 Map 检查是否为 null |
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for (Map.Entry<String, Object> entry : paramMap.entrySet()) { |
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if (entry.getValue() == null) { |
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String errorMsg = "参数 " + entry.getKey() + " 必填"; |
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webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(cmdId, cmdCode, CommandStatus.DEVICE_ERROR, errorMsg)); |
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throw new RuntimeException(errorMsg); |
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} |
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} |
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} |
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/** |
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* 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 |
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*/ |
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@Override |
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protected CompletableFuture<Void> runAsync(CheckedRunnable task) { |
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return CompletableFuture.runAsync(LambdaUtil.unchecked(task), singleExecutor); |
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} |
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/** |
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* { |
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* cmdName:'matrix_spray_start' |
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* cmdId:'', |
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* param:{ |
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* matrix_path_type:horizontal | vertical | grid;//喷涂路径类型 |
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* motor_z_height:;//高度 Z轴距离玻片的高度 |
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* gas_pressure://Mpa兆帕 不处理 |
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* volume:20；//单位uL微升 基质流速(控制注射泵速度) |
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* high_voltage:true/false;//是否打开高压 |
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* high_voltage_value:4000;//高压值 |
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* spacing:''//毫米 间距 |
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* moving_speed:8mm/s;//移动速度 轴速度 |
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* times:;//喷涂遍数 |
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* position:[{x1,y1,x2,y2,index}] |
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* } |
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* } |
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*/ |
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@Override |
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public CompletableFuture<Void> handle(FrontCmdControlForm form) { |
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SprayTask sprayTask = SprayTask.getInstance(); |
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if (sprayTask.isSpraying()) {//判断设备是否正在喷涂 |
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webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_ERROR, "设备正在喷涂，请先停止喷涂")); |
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throw new RuntimeException("设备正在喷涂，请先停止喷涂"); |
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} |
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sprayTask.setCmdId(form.getCmdId()); |
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sprayTask.setCmdCode(form.getCmdCode()); |
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sprayTask.setSpraying(true);//正在进行喷涂 |
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deviceStatus.setSpraying(true); |
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// 1. 参数校验 |
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String matrixPathType = form.getStringParam("matrixPathType"); |
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Double motorZHeight = form.getDoubleParam("motorZHeight"); |
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Double gasPressure = form.getDoubleParam("gasPressure"); |
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Double volume = form.getDoubleParam("volume"); |
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Boolean highVoltage = form.getBooleanParam("highVoltage"); |
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Double highVoltageValue = form.getDoubleParam("highVoltageValue"); |
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Double spacing = form.getDoubleParam("spacing"); |
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Double movingSpeed = form.getDoubleParam("movingSpeed"); |
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Double times = form.getDoubleParam("times"); |
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@SuppressWarnings("unchecked") |
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List<Map<String, Object>> positionList = (List<Map<String, Object>>) form.getParams().get("position"); |
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nonNullCheck(matrixPathType, form.getCmdId(), form.getCmdCode(), motorZHeight, gasPressure, volume, highVoltage, spacing, movingSpeed, times, positionList); |
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if (highVoltageValue != null && highVoltageValue > 6000) { |
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webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_ERROR, "电压不能大于6000V")); |
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throw new RuntimeException("电压不能大于6000V"); |
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} |
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if (positionList.isEmpty()) { |
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webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_ERROR, "喷涂区域不能为空")); |
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throw new RuntimeException("喷涂区域不能为空"); |
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} |
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// 3. 设定喷涂参数 |
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sprayTask.setSprayParam(matrixPathType, motorZHeight, gasPressure, volume, highVoltage, highVoltageValue, spacing, movingSpeed, times, positionList); |
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sprayTask.setCacheParams(form.getParams()); |
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OperationLog operationLog = new OperationLog(); |
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Long matrixCraftId = Long.valueOf(Optional.ofNullable(sprayTask.getCacheParams().get("matrixCraftId")) |
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.filter(Number.class::isInstance) |
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.map(Number.class::cast) |
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.map(Number::intValue) |
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.orElse(0)); |
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operationLog.setMatrixId(matrixCraftId); |
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operationLog.setMatrixInfo(JSONUtil.toJsonStr(sprayTask.getCacheParams())); |
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operationLogService.add(operationLog); |
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// 7.循环喷涂区域 |
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Position slidePosition1 = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "slide_position1")); |
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Position slidePosition2 = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "slide_position2")); |
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Position slidePosition3 = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "slide_position3")); |
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Position slidePosition4 = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "slide_position4")); |
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Double[][] slideArr = { |
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{slidePosition1.getX(), slidePosition1.getY()}, |
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{slidePosition2.getX(), slidePosition2.getY()}, |
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{slidePosition3.getX(), slidePosition3.getY()}, |
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{slidePosition4.getX(), slidePosition4.getY()} |
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}; |
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for (Map<String, Object> position : positionList) { |
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int index = (int) position.get("index"); //index 第几个玻片 |
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Double[] upperLeft = {((Number) position.get("x1")).doubleValue(), ((Number) position.get("y1")).doubleValue()}; //范围左上角 x1，y1 |
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Double[] lowerRight = {((Number) position.get("x2")).doubleValue(), ((Number) position.get("y2")).doubleValue()}; //范围右下角 x2，y2 |
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Double[] slide = slideArr[index];//获取玻片的坐标 |
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//规划路线坐标 |
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DecimalFormat df = new DecimalFormat("#.##"); |
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double left = Double.parseDouble(df.format(slide[0] + upperLeft[0])); |
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double right = Double.parseDouble(df.format(slide[0] + lowerRight[0])); |
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double top = Double.parseDouble(df.format(slide[1] + upperLeft[1])); |
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double bottom = Double.parseDouble(df.format(slide[1] + lowerRight[1])); |
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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 |
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for (int i = 1; i <= times; i++) { |
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double topReal = top; |
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double bottomReal = bottom; |
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double leftReal = left; |
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double rightReal = right; |
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if (i % 2 == 0) {//双数喷涂，插空移动边界 |
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double halfSpacing = spacing / 2; |
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topReal = top + halfSpacing; |
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bottomReal = bottomReal - halfSpacing; |
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leftReal = left + halfSpacing; |
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rightReal = right - halfSpacing; |
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} |
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List<PathGenerator.Points> pathList = PathGenerator.generatePathPoints( |
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leftReal, rightReal, topReal, bottomReal, |
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spacing, |
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PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN |
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); |
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List<List<DeviceCommand>> deviceCommandList = new ArrayList<>(); |
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for (int j = 0; j < pathList.size(); j++) { |
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PathGenerator.Points p = pathList.get(j); |
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List<DeviceCommand> deviceCommands = new ArrayList<>(); |
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if (j == pathList.size() - 1) { |
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deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX()));//移动x轴 |
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deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY()));//移动y轴 |
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} else { |
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deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), movingSpeed));//移动x轴 |
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deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY()));//移动y轴 |
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} |
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deviceCommandList.add(deviceCommands); |
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} |
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SprayTaskStep sprayTaskStep = new SprayTaskStep(); |
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sprayTaskStep.setIndex(index); |
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sprayTaskStep.setSpraySteps(deviceCommandList); |
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sprayTask.getSprayTaskStepList().add(sprayTaskStep); |
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} |
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} else if ("vertical".equals(matrixPathType)) { |
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for (int i = 1; i <= times; i++) { |
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double topReal = top; |
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double bottomReal = bottom; |
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double leftReal = left; |
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double rightReal = right; |
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if (i % 2 == 0) {//双数喷涂，插空移动边界 |
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double halfSpacing = spacing / 2; |
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topReal = top + halfSpacing; |
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bottomReal = bottomReal - halfSpacing; |
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leftReal = left + halfSpacing; |
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rightReal = right - halfSpacing; |
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} |
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List<PathGenerator.Points> pathList = PathGenerator.generatePathPoints( |
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leftReal, rightReal, topReal, bottomReal, |
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spacing, |
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PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT |
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); |
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List<List<DeviceCommand>> deviceCommandList = new ArrayList<>(); |
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for (int j = 0; j < pathList.size(); j++) { |
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PathGenerator.Points p = pathList.get(j); |
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List<DeviceCommand> deviceCommands = new ArrayList<>(); |
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if (j == pathList.size() - 1) { |
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deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX()));//移动x轴 |
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deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY()));//移动y轴 |
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} else { |
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deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX()));//移动x轴 |
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deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY()));//移动y轴 |
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} |
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deviceCommandList.add(deviceCommands); |
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} |
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SprayTaskStep sprayTaskStep = new SprayTaskStep(); |
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sprayTaskStep.setIndex(index); |
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sprayTaskStep.setSpraySteps(deviceCommandList); |
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sprayTask.getSprayTaskStepList().add(sprayTaskStep); |
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} |
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} else if ("grid".equals(matrixPathType)) { |
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for (int i = 1; i <= times; i++) { |
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double topReal = top; |
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double bottomReal = bottom; |
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double leftReal = left; |
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double rightReal = right; |
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double halfSpacing = spacing / 2; |
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if (i % 2 == 0) {//双数喷涂，插空移动边界 |
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topReal = top + halfSpacing; |
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bottomReal = bottomReal - halfSpacing; |
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leftReal = left + halfSpacing; |
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rightReal = right - halfSpacing; |
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} |
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List<PathGenerator.Points> pathList = PathGenerator.generatePathPoints( |
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leftReal, rightReal, topReal, bottomReal, |
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spacing, |
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PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN |
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); |
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List<List<DeviceCommand>> deviceCommandList = new ArrayList<>(); |
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for (int j = 0; j < pathList.size(); j++) { |
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PathGenerator.Points p = pathList.get(j); |
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List<DeviceCommand> deviceCommands = new ArrayList<>(); |
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if (j == pathList.size() - 1) { |
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deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX()));//移动x轴 |
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deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY()));//移动y轴 |
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} else { |
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deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX()));//移动x轴 |
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deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY()));//移动y轴 |
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} |
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deviceCommandList.add(deviceCommands); |
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} |
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SprayTaskStep sprayTaskStep = new SprayTaskStep(); |
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sprayTaskStep.setIndex(index); |
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sprayTaskStep.setSpraySteps(deviceCommandList); |
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sprayTask.getSprayTaskStepList().add(sprayTaskStep); |
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pathList = PathGenerator.generatePathPoints( |
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leftReal, rightReal, topReal, bottomReal, |
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spacing, |
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PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT |
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); |
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deviceCommandList = new ArrayList<>(); |
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for (int j = 0; j < pathList.size(); j++) { |
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PathGenerator.Points p = pathList.get(j); |
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List<DeviceCommand> deviceCommands = new ArrayList<>(); |
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if (j == pathList.size() - 1) { |
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deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX()));//移动x轴 |
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deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY()));//移动y轴 |
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} else { |
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deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX()));//移动x轴 |
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deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY()));//移动y轴 |
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} |
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deviceCommandList.add(deviceCommands); |
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} |
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SprayTaskStep sprayTaskStep2 = new SprayTaskStep(); |
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sprayTaskStep2.setIndex(index); |
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sprayTaskStep2.setSpraySteps(deviceCommandList); |
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sprayTask.getSprayTaskStepList().add(sprayTaskStep2); |
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} |
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} |
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} |
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return runAsync(() -> { |
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DeviceCommand overallDeviceStatusGetCommand = DeviceCommandGenerator.overallDeviceStatusGet(); |
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CommandFuture overallDeviceStatusGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), overallDeviceStatusGetCommand); |
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commandWait(overallDeviceStatusGetCommandFuture); |
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CommandFuture motorXOriginCommandFuture; |
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CommandFuture motorYOriginCommandFuture; |
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CommandFuture motorZOriginCommandFuture; |
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List<CommandFuture> futureList = new ArrayList<>(); |
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if (!overallDeviceStatusGetCommandFuture.getResponseResult().getJSONObject("data").getBool("xAxisAtOrigin")) { |
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DeviceCommand motorXOriginCommand = DeviceCommandGenerator.motorXOrigin(); // x轴回原点 |
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motorXOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXOriginCommand); |
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futureList.add(motorXOriginCommandFuture); |
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} |
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if (!overallDeviceStatusGetCommandFuture.getResponseResult().getJSONObject("data").getBool("yAxisAtOrigin")) { |
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DeviceCommand motorYOriginCommand = DeviceCommandGenerator.motorYOrigin();//y轴回原点 |
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motorYOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYOriginCommand); |
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futureList.add(motorYOriginCommandFuture); |
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} |
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if (!overallDeviceStatusGetCommandFuture.getResponseResult().getJSONObject("data").getBool("zAxisAtOrigin")) { |
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DeviceCommand motorZOriginCommand = DeviceCommandGenerator.motorZOrigin();//z轴回原点 |
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motorZOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZOriginCommand); |
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futureList.add(motorZOriginCommandFuture); |
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} |
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CommandFuture[] commandFutureArray = futureList.toArray(new CommandFuture[0]); |
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commandWait(commandFutureArray); |
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|
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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")); |
||||
|
}); |
||||
|
} |
||||
|
|
||||
|
|
||||
|
} |
||||
@ -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<SprayTimes> times; |
||||
|
|
||||
|
} |
||||
@ -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> sprayTaskParams; |
||||
|
|
||||
|
} |
||||
@ -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> sprayTaskParams; |
||||
|
|
||||
|
} |
||||
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