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注射管道清洗 关闭

master
王梦远 2 weeks ago
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f2ec6c2065
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ba65ca24c7
2 changed files with 93 additions and 86 deletions
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  1. 125
      src/main/java/com/qyft/ms/app/front/cmd/business/SyringePipelineWash.java
  2. 54
      src/main/java/com/qyft/ms/app/front/cmd/business/SyringePipelineWashStop.java

125
src/main/java/com/qyft/ms/app/front/cmd/business/SyringePipelineWash.java
View File

@ -24,7 +24,7 @@ import org.springframework.stereotype.Component;
import java.util.concurrent.CompletableFuture; import java.util.concurrent.CompletableFuture;
/** /**
* 注射器管路_清洗注射器管路
* 清洗注射器管路
*/ */
@Slf4j @Slf4j
@Component @Component
@ -40,7 +40,10 @@ public class SyringePipelineWash extends BaseCommandHandler {
@Override @Override
public CompletableFuture<Void> handle(FrontCmdControlForm form) { public CompletableFuture<Void> handle(FrontCmdControlForm form) {
if (deviceStatus.isCleaningSyringePipeline() || deviceStatus.isCleaningNozzlePipeline()) {
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"); 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");
} }
Double speed = form.getDoubleParam("speed"); Double speed = form.getDoubleParam("speed");
@ -49,71 +52,69 @@ public class SyringePipelineWash extends BaseCommandHandler {
throw new RuntimeException("参数 speed 必填"); throw new RuntimeException("参数 speed 必填");
} }
if (speed > 100) { if (speed > 100) {
webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_ERROR, "清洗速度不能大于100"));
throw new RuntimeException("预充速度不能大于100");
webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_ERROR, "移动速度不能大于100"));
throw new RuntimeException("移动速度不能大于100");
} }
try {
//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();
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);
return runAsync(() -> {
try {
deviceStatus.setCleaningSyringePipeline(true);
//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();
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"));
//3.x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);
//4.下降z轴高度，防止飞溅
DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(wasteLiquor.getZ(), 20.0);
CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZPositionSetCommand); CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZPositionSetCommand);
commandWait(motorZPositionSetCommandFuture); commandWait(motorZPositionSetCommandFuture);
}
Position wasteLiquor = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "waste_liquor"));
//xy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);
DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(wasteLiquor.getY(), 20.0);
CommandFuture motorYPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYPositionSetCommand);
commandWait(motorXPositionSetCommandFuture, motorYPositionSetCommandFuture);
//下降z轴高度，防止飞溅
DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(wasteLiquor.getZ(), 20.0);
CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZPositionSetCommand);
commandWait(motorZPositionSetCommandFuture);
//5.开启喷嘴阀
DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen(); // 开启喷嘴阀
CommandFuture nozzleValveOpenCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleValveOpenCommand);
commandWait(nozzleValveOpenCommandFuture);
Thread.sleep(500);//开启喷嘴阀后需要延迟500毫秒
//6.设置注射泵速度，推注射泵
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);
//5.打开三通阀注射器管路
// DeviceCommand threeWayValveOpenNozzlePipelineCommand = DeviceCommandGenerator.threeWayValveOpenNozzlePipeline();
// CommandFuture threeWayValveOpenNozzlePipelineCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), threeWayValveOpenNozzlePipelineCommand);
// commandWait(threeWayValveOpenNozzlePipelineCommandFuture);
//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.setCleaningSyringePipeline(true);
} catch (Exception e) {
deviceStatus.setCleaningSyringePipeline(false);
throw new RuntimeException(e);
}
return runAsync(() -> {
//5.三通阀打开注射器管路
DeviceCommand openSyringePipelineCommand = DeviceCommandGenerator.threeWayValveOpenSyringePipeline();
CommandFuture openSyringePipelineCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), openSyringePipelineCommand);
commandWait(openSyringePipelineCommandFuture);
//6.关闭清洗和除湿阀 开启喷嘴阀
DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen(); // 开启喷嘴阀
CommandFuture nozzleValveOpenCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleValveOpenCommand);
commandWait(nozzleValveOpenCommandFuture);
DeviceCommand washValveCloseCommand = DeviceCommandGenerator.washValveClose(); // 关闭清洗阀
CommandFuture washValveCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), washValveCloseCommand);
commandWait(washValveCloseCommandFuture);
DeviceCommand dehumidifierCloseCommand = DeviceCommandGenerator.dehumidifierValveClose(); // 关闭除湿阀门
CommandFuture dehumidifierCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), dehumidifierCloseCommand);
commandWait(dehumidifierCloseCommandFuture);
Thread.sleep(500);
//7.设置注射泵速度，推注射泵
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);
} catch (Exception e) {
deviceStatus.setCleaningSyringePipeline(false);
throw new RuntimeException(e);
}
}); });

54
src/main/java/com/qyft/ms/app/front/cmd/business/SyringePipelineWashStop.java
View File

@ -29,35 +29,41 @@ public class SyringePipelineWashStop extends BaseCommandHandler {
@Override @Override
public CompletableFuture<Void> handle(FrontCmdControlForm form) { public CompletableFuture<Void> handle(FrontCmdControlForm form) {
return runAsync(() -> { return runAsync(() -> {
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);
try {
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);
//1.停止推动注射泵
DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop(); //停止推动注射泵
CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpStopCommand);
//1.停止推动注射泵
DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop(); //停止推动注射泵
CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpStopCommand);
//2.全部关闭三通阀
DeviceCommand threeWayValveCloseAllCommand = DeviceCommandGenerator.threeWayValveCloseAll(); // 生成全部关闭三通阀指令
CommandFuture threeWayValveCloseAllCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), threeWayValveCloseAllCommand);
commandWait(syringePumpStopCommandFuture, threeWayValveCloseAllCommandFuture);
//2.全部关闭三通阀
DeviceCommand threeWayValveCloseAllCommand = DeviceCommandGenerator.threeWayValveCloseAll(); // 生成全部关闭三通阀指令
CommandFuture threeWayValveCloseAllCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), threeWayValveCloseAllCommand);
commandWait(syringePumpStopCommandFuture, threeWayValveCloseAllCommandFuture);
//3.关闭清洗阀
DeviceCommand washValveCloseCommand = DeviceCommandGenerator.washValveClose(); // 关闭清洗阀
CommandFuture washValveCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), washValveCloseCommand);
commandWait(washValveCloseCommandFuture);
//6.关闭清洗阀
DeviceCommand washValveCloseCommand = DeviceCommandGenerator.washValveClose(); // 关闭清洗阀
CommandFuture washValveCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), washValveCloseCommand);
commandWait(washValveCloseCommandFuture);
//4.关闭喷嘴阀
DeviceCommand nozzleValveCloseCommand = DeviceCommandGenerator.nozzleValveClose(); // 关闭喷嘴阀
CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleValveCloseCommand);
commandWait(nozzleValveCloseCommandFuture);
//7.关闭喷嘴阀
DeviceCommand nozzleValveCloseCommand = DeviceCommandGenerator.nozzleValveClose(); // 关闭喷嘴阀
CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleValveCloseCommand);
commandWait(nozzleValveCloseCommandFuture);
//5.关闭除湿阀
DeviceCommand dehumidifierValveCloseCommand = DeviceCommandGenerator.dehumidifierValveClose(); // 关闭除湿阀
CommandFuture dehumidifierValveCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), dehumidifierValveCloseCommand);
commandWait(dehumidifierValveCloseCommandFuture);
}finally {
deviceStatus.setCleaningSyringePipeline(false);
}
deviceStatus.setCleaningSyringePipeline(false);
deviceStatus.setCleaningNozzlePipeline(false);
}); });
} }

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