注射管道清洗 关闭

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

@@ -24,7 +24,7 @@ import org.springframework.stereotype.Component;
 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
 @Component
@@ -40,7 +40,10 @@ public class SyringePipelineWash extends BaseCommandHandler {
 
     @Override
     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");
         }
         Double speed = form.getDoubleParam("speed");
@@ -49,11 +52,13 @@ public class SyringePipelineWash extends BaseCommandHandler {
             throw new RuntimeException("参数 speed 必填");
         }
         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");
         }
 
+        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);
@@ -73,48 +78,44 @@ public class SyringePipelineWash extends BaseCommandHandler {
                     commandWait(motorZPositionSetCommandFuture);
                 }
                 Position wasteLiquor = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "waste_liquor"));
-            //xy轴移动到废液位置
+                //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);
-            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
+                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);
                 commandWait(motorZPositionSetCommandFuture);
 
-            //5.开启喷嘴阀
+                //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);
-            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);
 
+                DeviceCommand washValveCloseCommand = DeviceCommandGenerator.washValveClose(); // 关闭清洗阀
+                CommandFuture washValveCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), washValveCloseCommand);
+                commandWait(washValveCloseCommandFuture);
 
-            //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);
+                DeviceCommand dehumidifierCloseCommand = DeviceCommandGenerator.dehumidifierValveClose(); // 关闭除湿阀门
+                CommandFuture dehumidifierCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), dehumidifierCloseCommand);
+                commandWait(dehumidifierCloseCommandFuture);
 
-            //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);
+                Thread.sleep(500);
 
-
-            deviceStatus.setCleaningSyringePipeline(true);
+                //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);
             }
 
-        return runAsync(() -> {
-
         });
 
     }

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

@@ -29,6 +29,7 @@ public class SyringePipelineWashStop extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(FrontCmdControlForm form) {
         return runAsync(() -> {
+            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
@@ -40,24 +41,29 @@ public class SyringePipelineWashStop extends BaseCommandHandler {
                 //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);
 
-            //6.关闭清洗阀
+                //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);
 
-            //7.关闭喷嘴阀
+                //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);
 
+                //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.setCleaningNozzlePipeline(false);
+            }
+
         });
 
     }