baifengji
/
matrix-spray-v2
1
0
Fork 0
Code Issues Pull Requests Projects Releases 1 Wiki Activity
Browse Source

fix:修复暂停时阀门状态不正确的问题

master
白凤吉 2 weeks ago
parent
7882a0c903
commit
a7d78f6e90
1 changed files with 34 additions and 28 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 62
      src/main/java/com/qyft/ms/app/device/spray/SprayTaskExecutor.java

62
src/main/java/com/qyft/ms/app/device/spray/SprayTaskExecutor.java
View File

@ -85,6 +85,11 @@ public class SprayTaskExecutor {
for (SprayTimes sprayTimes : sprayTaskParam.getTimes()) {//每个拨片有多次喷涂，循环每次喷涂
if (sprayNum < sprayTask.getSprayNum()) {
sprayNum++;
if("grid".equals(sprayTimes.getMatrixPathType())){//判断本次是否是田字格
sprayTask.setCurrentCountSprayNum(sprayTask.getCurrentCountSprayNum() + 2);
}else{
sprayTask.setCurrentCountSprayNum(sprayTask.getCurrentCountSprayNum() + 1);
}
continue;
}
sprayTask.setSprayTimes(sprayTimes);
@ -92,7 +97,7 @@ public class SprayTaskExecutor {
List<SprayTaskStep> sprayTaskStepList = getSprayPath(sprayTimes);//计算本次喷涂的路线
if(sprayTask.getCurrentStep() == 0){
if (sprayTask.getCurrentStep() == 0) {
//先移动到玻片左上角位置
DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(slideArr[sprayTaskParam.getIndex()][0], 20.0);
DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorYPositionSet(slideArr[sprayTaskParam.getIndex()][1], 20.0);
@ -107,28 +112,24 @@ public class SprayTaskExecutor {
commandWait(motorXPositionSetCommandFuture, motorYPositionSetCommandFuture, motorZPositionSetAboveSlideCommandFuture);
}
DeviceCommand threeWayValveOpenSyringePipelineCommand = DeviceCommandGenerator.threeWayValveOpenNozzlePipeline();//打开三通阀注射器管路
DeviceCommand threeWayValveOpenSyringePipelineCommand = DeviceCommandGenerator.threeWayValveOpenNozzlePipeline();//三通阀切换到注射器管路
CommandFuture threeWayValveOpenSyringePipelineCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), threeWayValveOpenSyringePipelineCommand);
DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen();//开启喷嘴阀
CommandFuture nozzleValveOpenCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), nozzleValveOpenCommand);
commandWait(threeWayValveOpenSyringePipelineCommandFuture, nozzleValveOpenCommandFuture);
delay(500);
//判断是否有暂停的点位，如果有则还原暂停时的点位
Point3D currentPausedPoint = sprayTask.getCurrentPausedPoint();
if (currentPausedPoint != null) {
DeviceCommand motorXRestoreCommand = DeviceCommandGenerator.motorXPositionSet(currentPausedPoint.x, 20.0);
DeviceCommand motorYRestoreCommand = DeviceCommandGenerator.motorYPositionSet(currentPausedPoint.y, 20.0);
DeviceCommand motorZRestoreCommand = DeviceCommandGenerator.motorZPositionSet(currentPausedPoint.z, 20.0);
CommandFuture motorXRestoreCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXRestoreCommand);
CommandFuture motorYRestoreCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYRestoreCommand);
CommandFuture motorZRestoreCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZRestoreCommand);
commandWait(motorXRestoreCommandFuture, motorYRestoreCommandFuture, motorZRestoreCommandFuture);
sprayTask.setCurrentPausedPoint(null);
}
// Point3D currentPausedPoint = sprayTask.getCurrentPausedPoint();
// if (currentPausedPoint != null) {
// DeviceCommand motorXRestoreCommand = DeviceCommandGenerator.motorXPositionSet(currentPausedPoint.x, 20.0);
// DeviceCommand motorYRestoreCommand = DeviceCommandGenerator.motorYPositionSet(currentPausedPoint.y, 20.0);
// DeviceCommand motorZRestoreCommand = DeviceCommandGenerator.motorZPositionSet(currentPausedPoint.z, 20.0);
// CommandFuture motorXRestoreCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXRestoreCommand);
// CommandFuture motorYRestoreCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYRestoreCommand);
// CommandFuture motorZRestoreCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZRestoreCommand);
// commandWait(motorXRestoreCommandFuture, motorYRestoreCommandFuture, motorZRestoreCommandFuture);
// sprayTask.setCurrentPausedPoint(null);
// }
//因为走的是折现，所以单词指令只需要移动x或y，缓存上一个点位用来判断本次是走x还是y
//因为走的是折线，所以单次指令只需要移动x或y，缓存上一个点位用来判断本次是走x还是y
double cacheXPoint = -1;
double cacheYPoint = -1;
int currentStep = 0; //记录当前线程喷涂步骤序号
@ -139,6 +140,10 @@ public class SprayTaskExecutor {
commandWait(highVoltageOpenCommandFuture);
}
DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen();//开启喷嘴阀
CommandFuture nozzleValveOpenCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), nozzleValveOpenCommand);
commandWait(threeWayValveOpenSyringePipelineCommandFuture, nozzleValveOpenCommandFuture);
DeviceCommand syringePumpForwardCommand = DeviceCommandGenerator.syringePumpForward(sprayTimes.getVolume());//推动移动注射泵
CommandFuture syringePumpForwardCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpForwardCommand);
commandWait(syringePumpForwardCommandFuture);
@ -171,13 +176,18 @@ public class SprayTaskExecutor {
sprayTask.setCurrentStep(currentStep);
}
//一次喷涂完毕后停止推注射泵
DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop();//停止推动注射泵
CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpStopCommand);
commandWait(syringePumpStopCommandFuture);
DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop(); //停止推动注射泵
CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpStopCommand);
DeviceCommand nozzleValveCloseCommand = DeviceCommandGenerator.nozzleValveClose(); //关闭喷嘴阀
CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), nozzleValveCloseCommand);
DeviceCommand highVoltageCloseCommand = DeviceCommandGenerator.highVoltageClose(); //关闭高压
CommandFuture highVoltageCloseCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), highVoltageCloseCommand);
commandWait(syringePumpStopCommandFuture, nozzleValveCloseCommandFuture, highVoltageCloseCommandFuture);
sprayTask.setCurrentCountSprayNum(sprayTask.getCurrentCountSprayNum() + 1);
if (sprayTimes.getGridDelay() != null) {
delay(sprayTimes.getGridDelay() * 1000);
}
sprayTask.setCurrentCountSprayNum(sprayTask.getCurrentCountSprayNum() + 1);
}
sprayNum++;
sprayTask.setSprayNum(sprayNum);
@ -306,11 +316,7 @@ public class SprayTaskExecutor {
return sprayTaskStepList;
}
private void delay(long millisecond) {
try {
Thread.sleep(millisecond);
} catch (Exception e) {
throw new RuntimeException(e);
}
private void delay(long millisecond) throws InterruptedException {
Thread.sleep(millisecond);
}
}
Write Preview
Loading…
Cancel
Save