喷嘴清洗

src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelineWash.java

@@ -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(() -> {
+
+
+        });
+
+    }
+}