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matrix-spray-v2
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fix:喷涂时间校准

master
白凤吉 2 weeks ago
parent
3a3d52c290
commit
c14521d26d
3 changed files with 38 additions and 37 deletions
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  1. 69
      src/main/java/com/qyft/ms/app/device/spray/SprayTaskExecutor.java
  2. 4
      src/main/java/com/qyft/ms/app/device/status/SprayTask.java
  3. 2
      src/main/java/com/qyft/ms/app/service/VirtualDeviceService.java

69
src/main/java/com/qyft/ms/app/device/spray/SprayTaskExecutor.java
View File

@ -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;
}

4
src/main/java/com/qyft/ms/app/device/status/SprayTask.java
View File

@ -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;

2
src/main/java/com/qyft/ms/app/service/VirtualDeviceService.java
View File

@ -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")) {

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