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喷嘴清洗

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王梦远 2 weeks ago
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1 changed files with 106 additions and 96 deletions
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  1. 202
      src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelineWash.java

202
src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelineWash.java
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@ -1,96 +1,106 @@
//package com.qyft.ms.app.front.cmd.business;
//
//import cn.hutool.json.JSONObject;
//import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
//import com.qyft.ms.app.device.status.DeviceStatus;
//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.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;
//import org.springframework.stereotype.Component;
//
//import java.util.concurrent.CompletableFuture;
//
///**
// * 喷嘴管路_清洗喷嘴管路
// * 废弃
// */
//@Slf4j
//@Component
//@RequiredArgsConstructor
//@CommandMapping("nozzle_pipeline_wash")//业务指令注解
//public class NozzlePipelineWash extends BaseCommandHandler {
//
// private final DeviceCommandService deviceCommandService;
// private final SysSettingsService sysSettingsService;
// private final PositionService positionService;
// private final DeviceStatus deviceStatus;
// private final WebSocketService webSocketService;
//
// @Override
// public CompletableFuture<Void> handle(FrontCmdControlForm form) {
// if (deviceStatus.isCleaningSyringePipeline() || deviceStatus.isCleaningNozzlePipeline()) {
// throw new RuntimeException("正在清洗喷嘴管路或注射器管路，无法开启清洗注射器管路");
// }
// try {
// //1.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();
// CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXyzPositionGetCommand);
// commandWait(motorXyzPositionGetCommandFuture);
// JSONObject motorXyzPositionGetCommandDeviceResult = motorXyzPositionGetCommandFuture.getResponseResult();
// Double zAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("zAxisPosition");
// if (zAxisPosition == null) {
// webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_ERROR, "获得电机XYZ相对原点坐标失败", motorXyzPositionGetCommandDeviceResult));
// throw new RuntimeException("获得电机XYZ相对原点坐标失败");
// }
// zAxisPosition = Math.abs(zAxisPosition);
// SysSettings safeZHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper<SysSettings>().eq(SysSettings::getCode, "safe_z_height"));
// double safeZHeight = Double.parseDouble(safeZHeightSysSettings.getValue());
// if (zAxisPosition > safeZHeight) { //z轴超出安全距离，抬升z轴
// DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(safeZHeight, 15.0);
// CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZPositionSetCommand);
// commandWait(motorZPositionSetCommandFuture);
// }
// Position wasteLiquor = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "waste_liquor"));
// //2.轴移动到废液位置
// DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(wasteLiquor.getX(), 20.0);
// CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXPositionSetCommand);
// commandWait(motorXPositionSetCommandFuture);
// //3.下降z轴高度，防止飞溅
// DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(wasteLiquor.getZ(), 15.0);
// CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZPositionSetCommand);
// commandWait(motorZPositionSetCommandFuture);
// //4.开启三通阀到喷嘴管路
// DeviceCommand threeWayValveOpenSyringePipelineCommand = DeviceCommandGenerator.threeWayValveOpenSyringePipeline(); // 打开三通阀喷嘴管路
// CommandFuture threeWayValveOpenSyringePipelineCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), threeWayValveOpenSyringePipelineCommand);
// commandWait(threeWayValveOpenSyringePipelineCommandFuture);
//
// //6.打开清洗阀
// DeviceCommand washValveOpenCommand = DeviceCommandGenerator.washValveOpen(); // 生成打开清洗阀指令
// CommandFuture washValveOpenCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), washValveOpenCommand);
// commandWait(washValveOpenCommandFuture);
//
// deviceStatus.setCleaningNozzlePipeline(true);
// } catch (Exception e) {
// deviceStatus.setCleaningNozzlePipeline(false);
// throw new RuntimeException(e);
// }
// return runAsync(() -> {
//
//
// });
//
// }
//}
package com.qyft.ms.app.front.cmd.business;
import cn.hutool.json.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.qyft.ms.app.device.status.DeviceStatus;
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.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;
import org.springframework.stereotype.Component;
import java.util.concurrent.CompletableFuture;
/**
* 清洗喷嘴管路
*/
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("nozzle_pipeline_wash")//业务指令注解
public class NozzlePipelineWash extends BaseCommandHandler {
private final DeviceCommandService deviceCommandService;
private final SysSettingsService sysSettingsService;
private final PositionService positionService;
private final DeviceStatus deviceStatus;
private final WebSocketService webSocketService;
@Override
public CompletableFuture<Void> handle(FrontCmdControlForm form) {
if(deviceStatus.isSpraying()){
throw new RuntimeException("正在喷涂，无法开启清洗注射器管路");
}
if (deviceStatus.isCleaningSyringePipeline() || deviceStatus.isCleaningNozzlePipeline()) {
throw new RuntimeException("正在清洗喷嘴管路或注射器管路，无法开启清洗注射器管路");
}
try {
deviceStatus.setCleaningNozzlePipeline(true);
//1.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();
CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXyzPositionGetCommand);
commandWait(motorXyzPositionGetCommandFuture);
JSONObject motorXyzPositionGetCommandDeviceResult = motorXyzPositionGetCommandFuture.getResponseResult();
Double zAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("zAxisPosition");
if (zAxisPosition == null) {
webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_ERROR, "获得电机XYZ相对原点坐标失败", motorXyzPositionGetCommandDeviceResult));
throw new RuntimeException("获得电机XYZ相对原点坐标失败");
}
zAxisPosition = Math.abs(zAxisPosition);
SysSettings safeZHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper<SysSettings>().eq(SysSettings::getCode, "safe_z_height"));
double safeZHeight = Double.parseDouble(safeZHeightSysSettings.getValue());
if (zAxisPosition > safeZHeight) { //z轴超出安全距离，抬升z轴
DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(safeZHeight, 15.0);
CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZPositionSetCommand);
commandWait(motorZPositionSetCommandFuture);
}
Position wasteLiquor = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "waste_liquor"));
//2.轴移动到废液位置
DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(wasteLiquor.getX(), 20.0);
CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXPositionSetCommand);
commandWait(motorXPositionSetCommandFuture);
//3.下降z轴高度，防止飞溅
DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(wasteLiquor.getZ(), 15.0);
CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZPositionSetCommand);
commandWait(motorZPositionSetCommandFuture);
//4.开启三通阀到喷嘴管路
DeviceCommand threeWayValveOpenSyringePipelineCommand = DeviceCommandGenerator.threeWayValveOpenSyringePipeline(); // 打开三通阀喷嘴管路
CommandFuture threeWayValveOpenSyringePipelineCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), threeWayValveOpenSyringePipelineCommand);
commandWait(threeWayValveOpenSyringePipelineCommandFuture);
//6.打开清洗阀
DeviceCommand washValveOpenCommand = DeviceCommandGenerator.washValveOpen(); // 生成打开清洗阀指令
CommandFuture washValveOpenCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), washValveOpenCommand);
commandWait(washValveOpenCommandFuture);
DeviceCommand nozzleValveCloseCommand = DeviceCommandGenerator.nozzleValveClose(); // 关闭喷嘴阀
CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleValveCloseCommand);
commandWait(nozzleValveCloseCommandFuture);
DeviceCommand dehumidifierCloseCommand = DeviceCommandGenerator.dehumidifierValveClose(); // 关闭除湿阀门
CommandFuture dehumidifierCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), dehumidifierCloseCommand);
commandWait(dehumidifierCloseCommandFuture);
} catch (Exception e) {
deviceStatus.setCleaningNozzlePipeline(false);
throw new RuntimeException(e);
}
return runAsync(() -> {
});
}
}
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