From c14521d26d69b782535edbc8a4510f8b883deae4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= Date: Mon, 21 Jul 2025 09:42:40 +0800 Subject: [PATCH] =?UTF-8?q?fix:=E5=96=B7=E6=B6=82=E6=97=B6=E9=97=B4?= =?UTF-8?q?=E6=A0=A1=E5=87=86?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../ms/app/device/spray/SprayTaskExecutor.java | 69 +++++++++++----------- .../com/qyft/ms/app/device/status/SprayTask.java | 4 +- .../qyft/ms/app/service/VirtualDeviceService.java | 2 +- 3 files changed, 38 insertions(+), 37 deletions(-) diff --git a/src/main/java/com/qyft/ms/app/device/spray/SprayTaskExecutor.java b/src/main/java/com/qyft/ms/app/device/spray/SprayTaskExecutor.java index dc23928..7d418bd 100644 --- a/src/main/java/com/qyft/ms/app/device/spray/SprayTaskExecutor.java +++ b/src/main/java/com/qyft/ms/app/device/spray/SprayTaskExecutor.java @@ -165,6 +165,7 @@ public class SprayTaskExecutor { commandWait(commandFutureArray); currentStep++;//当前喷涂步数。因为暂停可能本次路线还没走完，所以这里只有在走完一次路线后才会自增 sprayTask.setCurrentStep(currentStep); + subFinishTime(); } //一次喷涂完毕后停止推注射泵 DeviceCommand highVoltageCloseCommand = DeviceCommandGenerator.highVoltageClose(); //关闭高压 @@ -182,9 +183,9 @@ public class SprayTaskExecutor { } delay(1, sprayTimes.getDelay() * 1000); sprayNum++; + subFinishTime(); sprayTask.setSprayNum(sprayNum); sprayTask.setCurrentStep(0); - subFinishTime(); } sprayTask.setCurrentIndex(sprayTaskParam.getIndex()); sprayTask.setSprayNum(0); @@ -325,16 +326,23 @@ public class SprayTaskExecutor { SprayTask sprayTask = SprayTask.getInstance(); // ===== 常量 ===== - final long CMD_LAT_MS = 12L; // 单条命令往返耗时(ms) + final long CMD_LAT_MS = 15L; // 单条命令往返耗时(ms) final long PER_OVERHEAD_MS = 0L; // 每次喷涂后附加延时(ms) final long JOB_OVERHEAD_MS = 0L; // 任务结束后全局延时(ms) + final double X_SPEED_COMP = 0; // x轴速度补偿 + final double Y_SPEED_COMP = 0; // y轴速度补偿 // ================ + // ===== 缓存 ===== + int cacheSprayNum = sprayTask.getSprayNum();//当前玻片已经完成喷涂的次数 + // ================ + - LocalDateTime startTime = LocalDateTime.now(); List> finishTimes = new ArrayList<>(); + long cumulativeMs = 0L; List sprayTaskParams = sprayTask.getSprayTaskParams(); double curX = 0, curY = 0, curZ = 0;//定义当前位置 + int cacheCurrentStep = sprayTask.getCurrentStep(); for (SprayTaskParams sprayTaskParam : sprayTaskParams) {//循环玻片 if (sprayTask.getCurrentIndex() != null && sprayTaskParam.getIndex() <= sprayTask.getCurrentIndex()) {//喷涂过的玻片跳过 continue; @@ -342,13 +350,14 @@ public class SprayTaskExecutor { long sliceMs = 0L; //当前玻片耗时 int sprayNum = 1; //当前玻片是第几次喷涂 for (SprayTimes sprayTimes : sprayTaskParam.getTimes()) {//每个拨片有多次喷涂，循环每次喷涂 - if (sprayNum < sprayTask.getSprayNum()) { + if (sprayTask.getCurrentIndex() != null && sprayTaskParam.getIndex() > sprayTask.getCurrentIndex() && sprayNum < cacheSprayNum) { sprayNum++; continue; } Double[] slide = slideArr[sprayTaskParam.getIndex()];//获取玻片原点的坐标 List sprayTaskStepList = getSprayPath(sprayTimes);//计算本次喷涂的路线 - if (sprayTask.getCurrentStep() == 0) { + //只有在玻片首次喷涂前才需要移动，另外还未喷涂的玻片也需要计算时间 + if (cacheCurrentStep == 0) { //先移动到玻片左上角位置 SysSettings slideHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper().eq(SysSettings::getCode, "slide_height")); Double slideHeight = Double.parseDouble(slideHeightSysSettings.getValue()); @@ -363,63 +372,55 @@ public class SprayTaskExecutor { curY = slideArr[sprayTaskParam.getIndex()][1]; curZ = height; } - sliceMs += CMD_LAT_MS + 500;//三通阀切换到注射器管路 - //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; + double lastX = 0; + double lastY = 0; int currentStep = 0; //记录当前线程喷涂步骤序号 + double xLength = 0; + double yLength = 0; for (SprayTaskStep sprayTaskStep : sprayTaskStepList) {//因为田字格喷涂其实是两次 - if (currentStep >= sprayTask.getCurrentStep()) { - sliceMs += CMD_LAT_MS;//开启喷嘴阀 - sliceMs += CMD_LAT_MS;//推动移动注射泵 - if (sprayTimes.getHighVoltage()) {//加电 - sliceMs += CMD_LAT_MS;//开启高压 - } - } for (int i = 0; i < sprayTaskStep.getSprayPathPointList().size(); i++) {//循环路线 - if (currentStep < sprayTask.getCurrentStep()) { + if (currentStep < cacheCurrentStep) { currentStep++; continue; } Point2D currentPoint = sprayTaskStep.getSprayPathPointList().get(i); - if (cacheXPoint != currentPoint.x) { - sliceMs += moveMs(curX, slide[0] + currentPoint.x, sprayTimes.getMovingSpeed(), CMD_LAT_MS); - cacheXPoint = currentPoint.x; + if (lastX != currentPoint.x) { + xLength += currentPoint.x; + lastX = currentPoint.x; curX = slide[0] + currentPoint.x; } - if (cacheYPoint != currentPoint.y) { - sliceMs += moveMs(curY, slide[1] + currentPoint.y, sprayTimes.getMovingSpeed(), CMD_LAT_MS); - cacheYPoint = currentPoint.y; + if (lastY != currentPoint.y) { + yLength += currentPoint.y; + lastY = currentPoint.y; curY = slide[1] + currentPoint.y; } - sliceMs += CMD_LAT_MS * 3;//向前端推送当前路径 currentStep++;//当前喷涂步数。因为暂停可能本次路线还没走完，所以这里只有在走完一次路线后才会自增 } - //一次喷涂完毕后停止推注射泵 - sliceMs += CMD_LAT_MS; //关闭高压 - sliceMs += CMD_LAT_MS; //停止推动注射泵 - sliceMs += CMD_LAT_MS; //关闭喷嘴阀 if ("grid".equals(sprayTimes.getMatrixPathType()) && sprayTimes.getGridDelay() != null) { - if(sprayTask.getRemainingGridDelay() != null){ + if (sprayTask.getRemainingGridDelay() != null) { sliceMs += sprayTask.getRemainingGridDelay(); - }else{ + } else { sliceMs += sprayTimes.getGridDelay() * 1000; } } } - if(sprayTask.getRemainingDelay() != null){ + cacheCurrentStep = 0; + sliceMs += (long) (xLength / sprayTimes.getMovingSpeed()) * 1000; + sliceMs += (long) (yLength / sprayTimes.getMovingSpeed()) * 1000; + if (sprayTask.getRemainingDelay() != null) { sliceMs += sprayTask.getRemainingDelay(); - }else{ + } else { sliceMs += sprayTimes.getDelay() * 1000; } sprayNum++; } + cumulativeMs += sliceMs; + LocalDateTime startTime = LocalDateTime.now(); Map rec = new HashMap<>(); rec.put("index", sprayTaskParam.getIndex()); - rec.put("finishTime", startTime.plus(Duration.ofMillis(sliceMs))); + rec.put("finishTime", startTime.plus(Duration.ofMillis(cumulativeMs))); finishTimes.add(rec); } - return finishTimes; } diff --git a/src/main/java/com/qyft/ms/app/device/status/SprayTask.java b/src/main/java/com/qyft/ms/app/device/status/SprayTask.java index d32214c..bfca97d 100644 --- a/src/main/java/com/qyft/ms/app/device/status/SprayTask.java +++ b/src/main/java/com/qyft/ms/app/device/status/SprayTask.java @@ -36,7 +36,7 @@ public class SprayTask { /** * 当前玻片根据喷涂参数，是第几次喷涂 */ - private volatile int sprayNum = 0; + private volatile int sprayNum = 1; /** * 当前玻片已喷涂遍数，田字格算2次 */ @@ -108,7 +108,7 @@ public class SprayTask { sprayTimes = null; currentPausedPoint = null; currentIndex = null; - sprayNum = 0; + sprayNum = 1; currentCountSprayNum = 1; operationLogId = null; remainingGridDelay = null; diff --git a/src/main/java/com/qyft/ms/app/service/VirtualDeviceService.java b/src/main/java/com/qyft/ms/app/service/VirtualDeviceService.java index c36be28..7fd11d6 100644 --- a/src/main/java/com/qyft/ms/app/service/VirtualDeviceService.java +++ b/src/main/java/com/qyft/ms/app/service/VirtualDeviceService.java @@ -36,7 +36,7 @@ public class VirtualDeviceService { if(action.contains("origin")){ Thread.sleep(3000); }else if (!action.contains("set")) {//非设置电机参数，也就是电机移动 - Thread.sleep(300); + Thread.sleep(500); } } else if (code.contains("getInfoCmd")) { if (device.contains("humidity")) {