From 959670bc49760557f0fce4ff0bf2bf356b7c39df 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 03:09:41 +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/common/generator/PathGenerator.java | 12 ++--- .../ms/app/controller/SprayTaskController.java | 2 +- .../qyft/ms/app/device/spray/SensorCollector.java | 12 ++--- .../ms/app/device/spray/SprayTaskExecutor.java | 53 +++++++++++------- .../com/qyft/ms/app/device/status/SprayTask.java | 5 ++ .../app/front/cmd/business/DehumidifierStart.java | 3 ++ .../front/cmd/business/MatrixSprayChangeParam.java | 9 +++- .../front/cmd/business/MatrixSprayContinue.java | 6 ++- .../app/front/cmd/business/MatrixSprayPause.java | 51 ++++++++---------- .../app/front/cmd/business/MatrixSprayStart.java | 63 ++++++++++++---------- .../front/cmd/business/NozzlePipelinePreFill.java | 6 ++- .../model/bo/SprayTaskPointCollectorPushBO.java | 20 +++++-- .../com/qyft/ms/app/model/bo/SprayTaskSprayed.java | 7 ++- .../qyft/ms/app/model/vo/SprayTaskStatusVO.java | 3 +- .../ms/system/common/constant/CommandStatus.java | 4 ++ .../ms/system/core/client/DeviceTcpClient.java | 2 +- .../system/core/handler/DeviceMessageHandler.java | 2 +- .../ms/system/core/server/WebSocketServer.java | 14 +++++ .../qyft/ms/system/service/WebSocketService.java | 8 ++- 19 files changed, 180 insertions(+), 102 deletions(-) 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 972ba3a..acaeab2 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 @@ -48,18 +48,18 @@ public class PathGenerator { double effBottom = bottom - spacing; // 若收缩后无空间，则返回空集合 - if (effLeft > effRight || effTop > effBottom) { - System.out.println("内缩后无有效空间，返回空路径"); - return new ArrayList<>(); - } +// if (effLeft > effRight || effTop > effBottom) { +// System.out.println("内缩后无有效空间，返回空路径"); +// return new ArrayList<>(); +// } // 2) 根据mode选择不同的之字形算法 return switch (mode) { case HORIZONTAL_ZIGZAG_TOP_DOWN -> generateHorizontalZigzagTopDown( - effLeft, effRight, effTop, effBottom, spacing + left, right, top, bottom, spacing ); case VERTICAL_ZIGZAG_LEFT_RIGHT -> generateVerticalZigzagLeftRight( - effLeft, effRight, effTop, effBottom, spacing + left, right, top, bottom, spacing ); default -> // 预留给更多模式扩展 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 c8bebe7..b90ad06 100644 --- a/src/main/java/com/qyft/ms/app/controller/SprayTaskController.java +++ b/src/main/java/com/qyft/ms/app/controller/SprayTaskController.java @@ -24,7 +24,7 @@ public class SprayTaskController { SprayTask sprayTask = SprayTask.getInstance(); SprayTaskStatusVO sprayTaskStatusVO = new SprayTaskStatusVO(); sprayTaskStatusVO.setSprayTaskSprayedList(sprayTask.getSprayTaskSprayedList()); - sprayTaskStatusVO.setSprayParams(sprayTask.getSprayParams()); + sprayTaskStatusVO.setSprayParams(sprayTask.getCacheParams()); return Result.success(sprayTaskStatusVO); } diff --git a/src/main/java/com/qyft/ms/app/device/spray/SensorCollector.java b/src/main/java/com/qyft/ms/app/device/spray/SensorCollector.java index 7353459..f13ca9e 100644 --- a/src/main/java/com/qyft/ms/app/device/spray/SensorCollector.java +++ b/src/main/java/com/qyft/ms/app/device/spray/SensorCollector.java @@ -36,14 +36,10 @@ public class SensorCollector { Double deviceHumidity = humidityGetCmdFutureResult.getDouble("humidity"); Map map = new HashMap<>(); map.put("humidity", deviceHumidity); - webSocketService.pushMsg(WebSocketMessageType.SENSOR, map); - } catch (Exception e) { - if (!executorService.isShutdown()) { - executorService.shutdown(); // 关闭 ScheduledExecutorService - } - log.error("定时推送传感器状态错误", e); + webSocketService.pushMsgNoLog(WebSocketMessageType.SENSOR, map); + } catch (Exception ignored) { } - }, 10, 3000, TimeUnit.MILLISECONDS); + }, 10, 3, TimeUnit.SECONDS); } private void commandWait(CommandFuture... futures) throws ExecutionException, InterruptedException { @@ -51,7 +47,7 @@ public class SensorCollector { .map(CommandFuture::getResponseFuture) .toArray(CompletableFuture[]::new); CompletableFuture.allOf(responseFutures) - .orTimeout(120, TimeUnit.SECONDS) + .orTimeout(1, TimeUnit.SECONDS) .get(); } } 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 120a39c..2afea43 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 @@ -12,13 +12,16 @@ 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.util.ArrayList; @@ -28,6 +31,7 @@ import java.util.concurrent.CompletableFuture; import java.util.concurrent.ExecutionException; import java.util.concurrent.TimeUnit; +@Slf4j @Component @RequiredArgsConstructor public class SprayTaskExecutor { @@ -60,14 +64,14 @@ public class SprayTaskExecutor { * 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.pushMsg(WebSocketMessageType.CMD_DEBUG, "设备正在喷涂，请先停止喷涂"); + webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.ERROR, "设备正在喷涂，请先停止喷涂")); return; } taskThread = new Thread(() -> { try { - webSocketService.pushMsg(WebSocketMessageType.CMD_DEBUG, "喷涂任务线程启动"); - SprayTask sprayTask = SprayTask.getInstance(); + webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.START, "喷涂任务开始执行")); if (!sprayTask.isSprayPreStepsCompleted()) { //XYZ回原点 DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(0.0); @@ -98,6 +102,7 @@ public class SprayTaskExecutor { int reCurrentStep = sprayTask.getCurrentStep(); int currentStep = 0; //当前喷涂步骤 + int sprayNum = 1; for (SprayTaskStep sprayTaskStep : sprayTask.getSprayTaskStepList()) {//循环进行多次喷涂 DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen();//开启喷嘴阀 @@ -111,7 +116,7 @@ public class SprayTaskExecutor { deviceStatus.setSuspendable(true); for (int i = 0; i < sprayTaskStep.getSpraySteps().size(); i++) {//单次喷涂 if (currentStep < reCurrentStep) { - break; + continue; } List sprayStepCommands = sprayTaskStep.getSpraySteps().get(i); List commandFutureList = new ArrayList<>(); @@ -132,7 +137,7 @@ public class SprayTaskExecutor { double nextXPoint = (Double) sprayStepCommands.get(0).getParam().get("position") - slideArr[sprayTaskStep.getIndex()][0]; double nextYPoint = 75.5 - (Double) sprayStepCommands.get(1).getParam().get("position"); nextPoint = new Point2D(nextXPoint, nextYPoint); - SprayTaskPointCollectorPushBO sprayTaskPointCollectorPushBO = new SprayTaskPointCollectorPushBO(sprayTaskStep.getIndex(), currentPoint, nextPoint); + SprayTaskPointCollectorPushBO sprayTaskPointCollectorPushBO = new SprayTaskPointCollectorPushBO(sprayTask.getCmdId(), sprayTask.getCmdCode(), sprayTaskStep.getIndex(), sprayNum, currentPoint, nextPoint); webSocketService.pushMsg(WebSocketMessageType.SPRAY_POINT, sprayTaskPointCollectorPushBO); } commandWait(commandFutureArray); @@ -141,22 +146,23 @@ public class SprayTaskExecutor { sprayTask.setCurrentStep(currentStep);//将当前的喷涂进度缓存 if (nextPoint != null) { //将当前点位缓存 - sprayStepList.add(new Point2D(nextPoint.getX(), nextPoint.getY())); + SprayTaskSprayed sprayTaskSprayed = new SprayTaskSprayed(); + sprayTaskSprayed.setNumber(sprayNum); + sprayTaskSprayed.setIndex(sprayTaskStep.getIndex()); + sprayTaskSprayed.setSprayedPoints(new Point2D(nextPoint.getX(), nextPoint.getY())); + sprayTask.getSprayTaskSprayedList().add(sprayTaskSprayed); } } sprayTask.setSuspendable(false);//不可暂停 deviceStatus.setSuspendable(false); - SprayTaskSprayed sprayTaskSprayed = new SprayTaskSprayed(); - sprayTaskSprayed.setIndex(sprayTaskStep.getIndex()); - sprayTaskSprayed.setSprayedPoints(sprayStepList); DeviceCommand nozzleValveCloseCommand = DeviceCommandGenerator.nozzleValveClose();//关闭喷嘴阀 DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop();//停止推动注射泵 CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), nozzleValveCloseCommand); CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpStopCommand); commandWait(nozzleValveCloseCommandFuture, syringePumpStopCommandFuture); + sprayNum++; } - DeviceCommand highVoltageCloseCommand = DeviceCommandGenerator.highVoltageClose();//关闭高压 CommandFuture highVoltageCloseCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), highVoltageCloseCommand); commandWait(highVoltageCloseCommandFuture); @@ -169,21 +175,31 @@ public class SprayTaskExecutor { CommandFuture motorYPositionSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYPositionSetCommand); CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZPositionSetCommand); commandWait(motorXPositionSetCommandFuture, motorYPositionSetCommandFuture, motorZPositionSetCommandFuture); - webSocketService.pushMsg(WebSocketMessageType.CMD_DEBUG, "喷涂任务执行完毕"); + + SprayTask.getInstance().clear(); + deviceStatus.setSpraying(false); + deviceStatus.setSuspendable(false); + deviceStatus.setSuspendable(false); + + 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")); } catch (InterruptedException e) { - webSocketService.pushMsg(WebSocketMessageType.CMD_DEBUG, "喷涂任务线程停止"); + deviceStatus.setSuspendable(false); + webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SEND, "喷涂任务线程停止")); Thread.currentThread().interrupt(); } catch (Exception e) { - webSocketService.pushMsg(WebSocketMessageType.CMD_DEBUG, "喷涂任务线程异常:" + e.getMessage()); + log.info("喷涂任务失败", e); + SprayTask.getInstance().clear(); + deviceStatus.setSpraying(false); + deviceStatus.setSuspendable(false); + deviceStatus.setSuspendable(false); + 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")); } finally { - webSocketService.pushMsg(WebSocketMessageType.CMD_DEBUG, "喷涂任务线程退出"); + 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; - SprayTask.getInstance().clear(); - deviceStatus.setSpraying(false); - deviceStatus.setPaused(false); - deviceStatus.setSuspendable(false); } } }); @@ -198,7 +214,6 @@ public class SprayTaskExecutor { */ public synchronized void stopTask() { if (taskThread != null && taskThread.isAlive()) { - webSocketService.pushMsg(WebSocketMessageType.CMD_DEBUG, "停止喷涂任务线程"); // 中断线程，使得 future.get() 能够抛出 InterruptedException，从而退出等待 taskThread.interrupt(); } 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 e8aa73c..50c5e74 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 @@ -48,6 +48,10 @@ public class SprayTask { * 当前正在执行的步骤序号 */ private volatile int currentStep = 0; + /** + * 缓存前端的参数 + */ + private Map cacheParams = null; /** * 已喷涂点位 @@ -107,6 +111,7 @@ public class SprayTask { sprayTaskStepList.clear(); currentStep = 0; sprayTaskSprayedList.clear(); + cacheParams = null; } private static class Holder { diff --git a/src/main/java/com/qyft/ms/app/front/cmd/business/DehumidifierStart.java b/src/main/java/com/qyft/ms/app/front/cmd/business/DehumidifierStart.java index c7619fb..5981b6e 100644 --- a/src/main/java/com/qyft/ms/app/front/cmd/business/DehumidifierStart.java +++ b/src/main/java/com/qyft/ms/app/front/cmd/business/DehumidifierStart.java @@ -33,6 +33,9 @@ public class DehumidifierStart extends BaseCommandHandler { @Override public CompletableFuture handle(FrontCmdControlForm form) { + if (deviceStatus.isDehumidifierRunning()) { + throw new RuntimeException("正在除湿中，无法再次开启除湿"); + } Double humidity = form.getDoubleParam("humidity"); // 参数校验：humidity 必填 if (humidity == null) { 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 8749dda..0184134 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 @@ -5,11 +5,14 @@ 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; @@ -28,6 +31,7 @@ public class MatrixSprayChangeParam extends BaseCommandHandler { private final DeviceCommandService deviceCommandService; private final SysSettingsService sysSettingsService; + private final WebSocketService webSocketService; @Override public CompletableFuture handle(FrontCmdControlForm form) { @@ -39,7 +43,10 @@ public class MatrixSprayChangeParam extends BaseCommandHandler { Double highVoltageValue = form.getDoubleParam("highVoltageValue"); Double movingSpeed = form.getDoubleParam("movingSpeed"); sprayTask.setChangeSprayParam(motorZHeight, gasPressure, volume, highVoltage, highVoltageValue, movingSpeed); - + if (highVoltageValue > 6000) { + webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.ERROR, "电压不能大于6000V")); + throw new RuntimeException("电压不能大于6000V"); + } return runAsync(() -> { //1.速度 DeviceCommand motorXSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorXSpeedSet(movingSpeed);//x轴电机速度设置 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 f7173af..9478ed2 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 @@ -8,6 +8,7 @@ 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.WebSocketService; import com.qyft.ms.system.service.device.DeviceCommandService; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; @@ -29,8 +30,11 @@ public class MatrixSprayContinue extends BaseCommandHandler { @Override public CompletableFuture handle(FrontCmdControlForm form) { + SprayTask sprayTask = SprayTask.getInstance(); + if (!sprayTask.isSpraying()) { + throw new RuntimeException("设备没有正在喷涂"); + } return runAsync(() -> { - SprayTask sprayTask = SprayTask.getInstance(); DeviceCommand syringePumpForwardCommand = DeviceCommandGenerator.syringePumpForward(sprayTask.getSprayParams().getVolume()); //推动注射泵 CommandFuture syringePumpForwardCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpForwardCommand); DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen(); //打开喷嘴阀 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 b5b4927..0302b71 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 @@ -5,10 +5,8 @@ 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.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; @@ -32,36 +30,33 @@ public class MatrixSprayPause extends BaseCommandHandler { private final DeviceCommandService deviceCommandService; private final SprayTaskExecutor sprayTaskExecutor; private final DeviceStatus deviceStatus; - private final WebSocketService webSocketService; @Override public CompletableFuture handle(FrontCmdControlForm form) { + SprayTask sprayTask = SprayTask.getInstance(); + if (!sprayTask.isSuspendable()) { + throw new RuntimeException("当前喷涂任务不可暂停"); + } + sprayTask.setPaused(true); + deviceStatus.setPaused(true); return runAsync(() -> { - SprayTask sprayTask = SprayTask.getInstance(); - - if (sprayTask.isSuspendable()) { - 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); - sprayTask.setPaused(true); - deviceStatus.setPaused(true); - } else { - webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.ERROR, "当前喷涂任务不可暂停")); - } + 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 fd4925c..7cc5117 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 @@ -27,6 +27,7 @@ import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; import org.springframework.stereotype.Component; +import java.text.DecimalFormat; import java.util.ArrayList; import java.util.LinkedHashMap; import java.util.List; @@ -143,9 +144,10 @@ public class MatrixSprayStart extends BaseCommandHandler { return runAsync(() -> { // 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(); - operationLog.setMatrixInfo(JSONUtil.toJsonStr(sprayTask.getSprayParams())); + operationLog.setMatrixInfo(JSONUtil.toJsonStr(sprayTask.getCacheParams())); operationLogService.add(operationLog); //1.速度 @@ -177,24 +179,27 @@ public class MatrixSprayStart extends BaseCommandHandler { 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 - Double slideCompleteUCSX = slide[0] + upperLeft[0]; //玻片范围的实际位置x坐标 - Double slideCompleteUCSY = slide[1] + upperLeft[1]; //玻片范围的实际位置y坐标 //规划路线坐标 - double left = slideCompleteUCSX + upperLeft[0]; - double right = slideCompleteUCSX + lowerRight[0]; - double top = slideCompleteUCSY + upperLeft[1]; - double bottom = slideCompleteUCSY + lowerRight[1]; + 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 = 0; i < times; i++) { + for (int i = 1; i <= times; i++) { double topReal = top; double bottomReal = bottom; - if (i != 0 && i % 2 == 0) {//双数喷涂，插空移动边界 + 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 = bottom + halfSpacing; + topReal = top + halfSpacing; + bottomReal = bottomReal - halfSpacing; + leftReal = left + halfSpacing; + rightReal = right - halfSpacing; } List pathList = PathGenerator.generatePathPoints( - left, right, topReal, bottomReal, + leftReal, rightReal, topReal, bottomReal, spacing, PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN ); @@ -211,16 +216,20 @@ public class MatrixSprayStart extends BaseCommandHandler { sprayTask.getSprayTaskStepList().add(sprayTaskStep); } } else if ("vertical".equals(matrixPathType)) { - for (int i = 0; i < times; i++) { + for (int i = 1; i <= times; i++) { + double topReal = top; + double bottomReal = bottom; double leftReal = left; double rightReal = right; - if (i != 0 && i % 2 == 0) {//双数喷涂，插空移动边界 + if (i % 2 == 0) {//双数喷涂，插空移动边界 double halfSpacing = spacing / 2; - leftReal = top - halfSpacing; - rightReal = bottom + halfSpacing; + topReal = top + halfSpacing; + bottomReal = bottomReal - halfSpacing; + leftReal = left + halfSpacing; + rightReal = right - halfSpacing; } List pathList = PathGenerator.generatePathPoints( - leftReal, rightReal, top, bottom, + leftReal, rightReal, topReal, bottomReal, spacing, PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT ); @@ -237,22 +246,22 @@ public class MatrixSprayStart extends BaseCommandHandler { sprayTask.getSprayTaskStepList().add(sprayTaskStep); } } else if ("grid".equals(matrixPathType)) { - for (int i = 0; i < times; i++) { - double leftReal = left; - double rightReal = right; + for (int i = 1; i <= times; i++) { double topReal = top; double bottomReal = bottom; - if (i != 0 && i % 2 == 0) {//双数喷涂，插空移动边界 - double halfSpacing = spacing / 2; - leftReal = top - halfSpacing; - rightReal = bottom + halfSpacing; - topReal = top - halfSpacing; - bottomReal = bottom + halfSpacing; + 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.VERTICAL_ZIGZAG_LEFT_RIGHT + PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN ); List> deviceCommandList = new ArrayList<>(); for (PathGenerator.Points p : pathList) {//喷针移动目标位置 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 3a25c38..1b4c575 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 @@ -40,11 +40,15 @@ public class NozzlePipelinePreFill extends BaseCommandHandler { @Override public CompletableFuture handle(FrontCmdControlForm form) { + if (deviceStatus.isPrefilling()) { + throw new RuntimeException("正在预充中，无法再次开启预充"); + } Double speed = form.getDoubleParam("speed"); if (speed == null) { webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.ERROR, "参数 speed 必填")); throw new RuntimeException("参数 speed 必填"); } + deviceStatus.setPrefilling(true); return runAsync(() -> { //2.判断z轴是否在安全距离，如果不在安全距离可以不抬升z轴 DeviceCommand motorXyzPositionGetCommand = DeviceCommandGenerator.motorXyzPositionGet(); @@ -83,8 +87,6 @@ public class NozzlePipelinePreFill extends BaseCommandHandler { DeviceCommand syringePumpStartCommand = DeviceCommandGenerator.syringePumpForward(speed); // 生成移动注射泵指令 CommandFuture syringePumpStartCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpStartCommand); commandWait(syringePumpStartCommandFuture); - - deviceStatus.setPrefilling(true); }); } diff --git a/src/main/java/com/qyft/ms/app/model/bo/SprayTaskPointCollectorPushBO.java b/src/main/java/com/qyft/ms/app/model/bo/SprayTaskPointCollectorPushBO.java index 3ec31e3..84d669e 100644 --- a/src/main/java/com/qyft/ms/app/model/bo/SprayTaskPointCollectorPushBO.java +++ b/src/main/java/com/qyft/ms/app/model/bo/SprayTaskPointCollectorPushBO.java @@ -1,15 +1,26 @@ package com.qyft.ms.app.model.bo; -import com.fasterxml.jackson.annotation.JsonInclude; import lombok.Data; @Data public class SprayTaskPointCollectorPushBO { /** - * 当前是第几次喷涂 + * 指令id + */ + String cmdId; + /** + * 指令code + */ + String cmdCode; + /** + * 当前是第几个玻片 从0开始 */ Integer index; /** + * 当前玻片是第几次喷涂 + */ + Integer number; + /** * 当前点位坐标 */ Point2D currentPoint; @@ -18,8 +29,11 @@ public class SprayTaskPointCollectorPushBO { */ Point2D nextPoint; - public SprayTaskPointCollectorPushBO(Integer index, Point2D currentPoint, Point2D nextPoint) { + public SprayTaskPointCollectorPushBO(String cmdId, String cmdCode, Integer index, Integer number, Point2D currentPoint, Point2D nextPoint) { + this.cmdId = cmdId; + this.cmdCode = cmdCode; this.index = index; + this.number = number; this.currentPoint = currentPoint; this.nextPoint = nextPoint; } diff --git a/src/main/java/com/qyft/ms/app/model/bo/SprayTaskSprayed.java b/src/main/java/com/qyft/ms/app/model/bo/SprayTaskSprayed.java index bf57db2..c66728f 100644 --- a/src/main/java/com/qyft/ms/app/model/bo/SprayTaskSprayed.java +++ b/src/main/java/com/qyft/ms/app/model/bo/SprayTaskSprayed.java @@ -13,10 +13,13 @@ public class SprayTaskSprayed { */ @Schema(description = "玻片序号") private Integer index; - + /** + * 当前玻片是第几次喷涂 + */ + Integer number; /** * 已喷涂点位 */ - private volatile List sprayedPoints; + private volatile Point2D sprayedPoints; } diff --git a/src/main/java/com/qyft/ms/app/model/vo/SprayTaskStatusVO.java b/src/main/java/com/qyft/ms/app/model/vo/SprayTaskStatusVO.java index dc0e8c8..5c07e79 100644 --- a/src/main/java/com/qyft/ms/app/model/vo/SprayTaskStatusVO.java +++ b/src/main/java/com/qyft/ms/app/model/vo/SprayTaskStatusVO.java @@ -6,6 +6,7 @@ import io.swagger.v3.oas.annotations.media.Schema; import lombok.Data; import java.util.List; +import java.util.Map; /** * 喷涂状态VO @@ -23,7 +24,7 @@ public class SprayTaskStatusVO { * 喷涂参数 */ @Schema(description = "喷涂参数") - private SprayParams sprayParams; + private Map sprayParams; } diff --git a/src/main/java/com/qyft/ms/system/common/constant/CommandStatus.java b/src/main/java/com/qyft/ms/system/common/constant/CommandStatus.java index b7670bd..bb6ac80 100644 --- a/src/main/java/com/qyft/ms/system/common/constant/CommandStatus.java +++ b/src/main/java/com/qyft/ms/system/common/constant/CommandStatus.java @@ -30,6 +30,10 @@ public class CommandStatus { */ public static final String FAIL = "fail"; /** + * 指令执行失败 + */ + public static final String SPRAY_TASK_FINISH = "spray_task_finish"; + /** * 业务指令处理完毕反馈 */ public static final String FINISH = "finish"; diff --git a/src/main/java/com/qyft/ms/system/core/client/DeviceTcpClient.java b/src/main/java/com/qyft/ms/system/core/client/DeviceTcpClient.java index 0cff09b..4a3b477 100644 --- a/src/main/java/com/qyft/ms/system/core/client/DeviceTcpClient.java +++ b/src/main/java/com/qyft/ms/system/core/client/DeviceTcpClient.java @@ -111,7 +111,7 @@ public class DeviceTcpClient { */ public boolean send(String request) { if (channel != null && channel.isActive()) { - log.info("向设备发送TCP指令：{}", request); +// log.info("向设备发送TCP指令：{}", request); channel.writeAndFlush(Unpooled.copiedBuffer(request, CharsetUtil.UTF_8)); return true; } else { diff --git a/src/main/java/com/qyft/ms/system/core/handler/DeviceMessageHandler.java b/src/main/java/com/qyft/ms/system/core/handler/DeviceMessageHandler.java index e85aaad..d811264 100644 --- a/src/main/java/com/qyft/ms/system/core/handler/DeviceMessageHandler.java +++ b/src/main/java/com/qyft/ms/system/core/handler/DeviceMessageHandler.java @@ -29,7 +29,7 @@ public class DeviceMessageHandler extends ChannelInboundHandlerAdapter { } try { String serverMsg = buf.toString(CharsetUtil.UTF_8); - log.info("serverMsg: {}", serverMsg); +// log.info("serverMsg: {}", serverMsg); JSONObject deviceResult = JSONUtil.parseObj(serverMsg); publisher.publishEvent(new DeviceTcpMessageEvent(this, deviceResult)); } catch (Exception e) { diff --git a/src/main/java/com/qyft/ms/system/core/server/WebSocketServer.java b/src/main/java/com/qyft/ms/system/core/server/WebSocketServer.java index 9273643..67105d3 100644 --- a/src/main/java/com/qyft/ms/system/core/server/WebSocketServer.java +++ b/src/main/java/com/qyft/ms/system/core/server/WebSocketServer.java @@ -18,6 +18,20 @@ public class WebSocketServer { // 消息按顺序发送，加锁 private static final Object sendLock = new Object(); + public static void sendMessageToClientsNoLog(String message) { + synchronized (sendLock) { + for (Session session : sessions) { + if (session.isOpen()) { + try { + session.getBasicRemote().sendText(message); + } catch (IOException ignored) { + } + } + } + } + } + + /** * 群发消息给所有客户端 */ diff --git a/src/main/java/com/qyft/ms/system/service/WebSocketService.java b/src/main/java/com/qyft/ms/system/service/WebSocketService.java index 81c29bf..431b70f 100644 --- a/src/main/java/com/qyft/ms/system/service/WebSocketService.java +++ b/src/main/java/com/qyft/ms/system/service/WebSocketService.java @@ -11,11 +11,17 @@ import org.springframework.stereotype.Service; @Service public class WebSocketService { + public void pushMsgNoLog(String type, Object data) { + WebSocketMessage websocketResult = new WebSocketMessage(); + websocketResult.setType(type); + websocketResult.setData(data); + WebSocketServer.sendMessageToClientsNoLog(JSONUtil.toJsonStr(websocketResult)); + } + public void pushMsg(String type, Object data) { WebSocketMessage websocketResult = new WebSocketMessage(); websocketResult.setType(type); websocketResult.setData(data); - // 发送消息给客户端 WebSocketServer.sendMessageToClients(JSONUtil.toJsonStr(websocketResult)); }