fix:喷涂时间校准

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<Map<String, Object>> finishTimes = new ArrayList<>();
+        long cumulativeMs = 0L;
 
         List<SprayTaskParams> 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<SprayTaskStep> 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<SysSettings>().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<String, Object> 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;
     }
 

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;

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")) {