From c9877a690b1e6a82aa25fb7e7bcf0a728ef094bb Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= Date: Mon, 24 Mar 2025 18:21:00 +0800 Subject: [PATCH] =?UTF-8?q?fix:=E5=A2=9E=E5=8A=A0=E8=BF=98=E5=8E=9F?= =?UTF-8?q?=E5=87=BA=E5=8E=82=E9=85=8D=E7=BD=AE=E5=8A=9F=E8=83=BD?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../ms/app/controller/SysSettingsController.java | 15 -------- .../qyft/ms/app/controller/SystemController.java | 35 ++++++++++++++++++ .../core/properties/FactoryResetProperties.java | 37 +++++++++++++++++++ .../ms/app/device/spray/SprayTaskExecutor.java | 16 +++++---- .../front/cmd/business/MatrixSprayChangeParam.java | 18 +++++----- .../com/qyft/ms/app/model/entity/Position.java | 10 +++++- .../com/qyft/ms/app/model/entity/SysSettings.java | 7 ++++ .../com/qyft/ms/app/service/PositionService.java | 16 +++++++++ .../qyft/ms/app/service/SysSettingsService.java | 16 +++++++++ .../device/command/CyclicNumberGenerator.java | 2 +- src/main/resources/application.yml | 6 +++- src/main/resources/factory-reset.yml | 41 ++++++++++++++++++++++ src/main/resources/sql/init.sql | 24 +++++-------- 13 files changed, 193 insertions(+), 50 deletions(-) delete mode 100644 src/main/java/com/qyft/ms/app/controller/SysSettingsController.java create mode 100644 src/main/java/com/qyft/ms/app/controller/SystemController.java create mode 100644 src/main/java/com/qyft/ms/app/core/properties/FactoryResetProperties.java create mode 100644 src/main/resources/factory-reset.yml diff --git a/src/main/java/com/qyft/ms/app/controller/SysSettingsController.java b/src/main/java/com/qyft/ms/app/controller/SysSettingsController.java deleted file mode 100644 index 6d2de8b..0000000 --- a/src/main/java/com/qyft/ms/app/controller/SysSettingsController.java +++ /dev/null @@ -1,15 +0,0 @@ -package com.qyft.ms.app.controller; - -import io.swagger.v3.oas.annotations.tags.Tag; -import lombok.RequiredArgsConstructor; -import lombok.extern.slf4j.Slf4j; -import org.springframework.web.bind.annotation.RequestMapping; -import org.springframework.web.bind.annotation.RestController; - -@Tag(name = "系统配置") -@RestController -@RequestMapping("/api/sys") -@RequiredArgsConstructor -@Slf4j -public class SysSettingsController { -} diff --git a/src/main/java/com/qyft/ms/app/controller/SystemController.java b/src/main/java/com/qyft/ms/app/controller/SystemController.java new file mode 100644 index 0000000..ccfe14a --- /dev/null +++ b/src/main/java/com/qyft/ms/app/controller/SystemController.java @@ -0,0 +1,35 @@ +package com.qyft.ms.app.controller; + +import com.qyft.ms.app.service.PositionService; +import com.qyft.ms.app.service.SysSettingsService; +import com.qyft.ms.system.common.result.Result; +import io.swagger.v3.oas.annotations.Operation; +import io.swagger.v3.oas.annotations.tags.Tag; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.web.bind.annotation.PostMapping; +import org.springframework.web.bind.annotation.RequestMapping; +import org.springframework.web.bind.annotation.RestController; + +@Tag(name = "系统接口") +@RestController +@RequestMapping("/api/sys") +@RequiredArgsConstructor +@Slf4j +public class SystemController { + private final PositionService positionService; + private final SysSettingsService sysSettingsService; + + @Operation(summary = "还原出厂配置") + @PostMapping("/reset") + public Result resetFactorySettings() { + try { + positionService.resetToFactorySettings(); + sysSettingsService.resetToFactorySettings(); + return Result.success(); + } catch (Exception e) { + log.error("还原出厂配置失败", e); + return Result.failed(); + } + } +} diff --git a/src/main/java/com/qyft/ms/app/core/properties/FactoryResetProperties.java b/src/main/java/com/qyft/ms/app/core/properties/FactoryResetProperties.java new file mode 100644 index 0000000..6bf15fe --- /dev/null +++ b/src/main/java/com/qyft/ms/app/core/properties/FactoryResetProperties.java @@ -0,0 +1,37 @@ +package com.qyft.ms.app.core.properties; + +import lombok.Data; +import org.springframework.boot.context.properties.ConfigurationProperties; +import org.springframework.stereotype.Component; + +import java.util.List; + +@ConfigurationProperties(prefix = "factory") +@Component +@Data +public class FactoryResetProperties { + + private List settings; + private List positions; + + @Data + public static class SysSettingConfig { + private Long id; + private Long parentId; + private String name; + private String code; + private String value; + + } + + @Data + public static class PositionConfig { + private Long id; + private String pointName; + private String pointCode; + private Double x; + private Double y; + private Double z; + + } +} 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 844e0c6..ac36b69 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 @@ -144,9 +144,6 @@ public class SprayTaskExecutor { SprayTaskPointCollectorPushBO sprayTaskPointCollectorPushBO = new SprayTaskPointCollectorPushBO(sprayTask.getCmdId(), sprayTask.getCmdCode(), sprayTaskStep.getIndex(), sprayNum, sprayCount, currentPoint); webSocketService.pushMsg(WebSocketMessageType.SPRAY_POINT, sprayTaskPointCollectorPushBO); - commandWait(commandFutureArray); - currentStep++; - sprayTask.setCurrentStep(currentStep);//将当前的喷涂进度缓存 //将当前点位缓存 SprayTaskSprayed sprayTaskSprayed = new SprayTaskSprayed(); sprayTaskSprayed.setNumber(sprayNum); @@ -154,13 +151,18 @@ public class SprayTaskExecutor { sprayTaskSprayed.setSprayCount(sprayCount); sprayTaskSprayed.setSprayedPoints(new Point2D(Double.parseDouble(df.format(aXPoint - slideArr[sprayTaskStep.getIndex()][0])), Double.parseDouble(df.format(75.5 - aYPoint)))); sprayTask.addSprayTaskSprayed(sprayTaskSprayed); + + commandWait(commandFutureArray); + currentStep++; + sprayTask.setCurrentStep(currentStep);//将当前的喷涂进度缓存 } sprayTask.setSuspendable(false);//不可暂停 deviceStatus.setSuspendable(false); - - DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop();//停止推动注射泵 - CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpStopCommand); - commandWait(syringePumpStopCommandFuture); + if (currentStep >= reCurrentStep) { + DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop();//停止推动注射泵 + CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpStopCommand); + commandWait(syringePumpStopCommandFuture); + } sprayCount++; sprayNum++; } diff --git a/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayChangeParam.java b/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayChangeParam.java index 024ed5b..5045806 100644 --- a/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayChangeParam.java +++ b/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayChangeParam.java @@ -69,6 +69,13 @@ public class MatrixSprayChangeParam extends BaseCommandHandler { } } + //3.z轴高度 + SysSettings slideHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper().eq(SysSettings::getCode, "slide_height")); + Double slideHeight = Double.parseDouble(slideHeightSysSettings.getValue()); + Double height = slideHeight - motorZHeight; + DeviceCommand smotorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(height, sprayTask.getSprayParams().getMovingSpeed());//移动z轴到指定位置 + CommandFuture smotorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), smotorZPositionSetCommand); + //1.速度 DeviceCommand motorXSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorXSpeedSet(movingSpeed);//x轴电机速度设置 DeviceCommand motorYSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorYSpeedSet(movingSpeed);//y轴电机速度设置 @@ -76,19 +83,12 @@ public class MatrixSprayChangeParam extends BaseCommandHandler { CommandFuture motorXSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXSpeedSetCmdToDeviceCommand); CommandFuture motorYSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYSpeedSetCmdToDeviceCommand); CommandFuture motorZSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZSpeedSetCmdToDeviceCommand); - commandWait(motorXSpeedSetCmdToDeviceCommandFuture, motorYSpeedSetCmdToDeviceCommandFuture, motorZSpeedSetCmdToDeviceCommandFuture); + //2.流速 DeviceCommand syringePumpVolumeSetCommand = DeviceCommandGenerator.syringePumpVolumeSet(volume);//注射泵流速设置 CommandFuture syringePumpVolumeSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpVolumeSetCommand); - commandWait(syringePumpVolumeSetCommandFuture); - //3.z轴高度 - SysSettings slideHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper().eq(SysSettings::getCode, "slide_height")); - Double slideHeight = Double.parseDouble(slideHeightSysSettings.getValue()); - Double height = slideHeight - motorZHeight; - DeviceCommand smotorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(height, sprayTask.getSprayParams().getMovingSpeed());//移动z轴到指定位置 - CommandFuture smotorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), smotorZPositionSetCommand); - commandWait(smotorZPositionSetCommandFuture); + commandWait(motorXSpeedSetCmdToDeviceCommandFuture, motorYSpeedSetCmdToDeviceCommandFuture, motorZSpeedSetCmdToDeviceCommandFuture,smotorZPositionSetCommandFuture,syringePumpVolumeSetCommandFuture); }); diff --git a/src/main/java/com/qyft/ms/app/model/entity/Position.java b/src/main/java/com/qyft/ms/app/model/entity/Position.java index 63aad8f..369a478 100644 --- a/src/main/java/com/qyft/ms/app/model/entity/Position.java +++ b/src/main/java/com/qyft/ms/app/model/entity/Position.java @@ -32,5 +32,13 @@ public class Position extends BaseEntity { @Schema(description = "z") private Double z; - + public Position(Long id, String pointName, String pointCode, Double x, Double y, Double z) { + super(); + this.setId(id); + this.pointName = pointName; + this.pointCode = pointCode; + this.x = x; + this.y = y; + this.z = z; + } } diff --git a/src/main/java/com/qyft/ms/app/model/entity/SysSettings.java b/src/main/java/com/qyft/ms/app/model/entity/SysSettings.java index ca3ff36..6283467 100644 --- a/src/main/java/com/qyft/ms/app/model/entity/SysSettings.java +++ b/src/main/java/com/qyft/ms/app/model/entity/SysSettings.java @@ -34,4 +34,11 @@ public class SysSettings { @Schema(description = "配置值") private String value; + public SysSettings(Long id, Long parentId, String name, String code, String value) { + this.id = id; + this.parentId = parentId; + this.name = name; + this.code = code; + this.value = value; + } } diff --git a/src/main/java/com/qyft/ms/app/service/PositionService.java b/src/main/java/com/qyft/ms/app/service/PositionService.java index 6e743ec..786be08 100644 --- a/src/main/java/com/qyft/ms/app/service/PositionService.java +++ b/src/main/java/com/qyft/ms/app/service/PositionService.java @@ -1,10 +1,12 @@ package com.qyft.ms.app.service; import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl; +import com.qyft.ms.app.core.properties.FactoryResetProperties; import com.qyft.ms.app.mapper.PositionMapper; import com.qyft.ms.app.model.entity.Position; import lombok.RequiredArgsConstructor; import org.springframework.stereotype.Service; +import org.springframework.transaction.annotation.Transactional; import java.util.Arrays; import java.util.List; @@ -17,6 +19,8 @@ import java.util.stream.Collectors; @RequiredArgsConstructor public class PositionService extends ServiceImpl { + private final FactoryResetProperties factoryResetProperties; + public Boolean delete(String ids) { List idsArr = Arrays.stream(ids.split(",")) .map(Long::parseLong) @@ -24,5 +28,17 @@ public class PositionService extends ServiceImpl { return this.removeByIds(idsArr); } + /** + * 恢复出厂设置 + */ + @Transactional(rollbackFor = Exception.class) + public void resetToFactorySettings() { + this.remove(null); + List positions = factoryResetProperties.getPositions().stream() + .map(config -> new Position(config.getId(), config.getPointName(), config.getPointCode(), config.getX(), config.getY(), config.getZ())) + .collect(Collectors.toList()); + this.saveBatch(positions); + } + } diff --git a/src/main/java/com/qyft/ms/app/service/SysSettingsService.java b/src/main/java/com/qyft/ms/app/service/SysSettingsService.java index 337ea13..bec0c8e 100644 --- a/src/main/java/com/qyft/ms/app/service/SysSettingsService.java +++ b/src/main/java/com/qyft/ms/app/service/SysSettingsService.java @@ -2,14 +2,17 @@ package com.qyft.ms.app.service; import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper; import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl; +import com.qyft.ms.app.core.properties.FactoryResetProperties; import com.qyft.ms.app.mapper.SysSettingsMapper; import com.qyft.ms.app.model.entity.SysSettings; import lombok.Getter; import lombok.RequiredArgsConstructor; import org.springframework.stereotype.Service; +import org.springframework.transaction.annotation.Transactional; import java.util.List; import java.util.Map; +import java.util.stream.Collectors; /** * 系统配置实现类 @@ -18,6 +21,7 @@ import java.util.Map; @RequiredArgsConstructor public class SysSettingsService extends ServiceImpl { private final SysSettingsMapper sysSettingsMapper; + private final FactoryResetProperties factoryResetProperties; // 玻片位置 @Getter List slidePositionList; @@ -68,4 +72,16 @@ public class SysSettingsService extends ServiceImpl settings = factoryResetProperties.getSettings().stream() + .map(config -> new SysSettings(config.getId(), config.getParentId(), config.getName(), config.getCode(), config.getValue())) + .collect(Collectors.toList()); + this.saveBatch(settings); + } } diff --git a/src/main/java/com/qyft/ms/system/common/device/command/CyclicNumberGenerator.java b/src/main/java/com/qyft/ms/system/common/device/command/CyclicNumberGenerator.java index 7a1dc65..aae1988 100644 --- a/src/main/java/com/qyft/ms/system/common/device/command/CyclicNumberGenerator.java +++ b/src/main/java/com/qyft/ms/system/common/device/command/CyclicNumberGenerator.java @@ -33,7 +33,7 @@ public class CyclicNumberGenerator { // 每次生成后将当前数字加 1 currentNumber++; // 如果当前数字超过 255，将其重置为 1 - if (currentNumber > 255) { + if (currentNumber > 4000) { currentNumber = 1; } return result; diff --git a/src/main/resources/application.yml b/src/main/resources/application.yml index eabc930..65c7997 100644 --- a/src/main/resources/application.yml +++ b/src/main/resources/application.yml @@ -6,6 +6,8 @@ server: spring: application: name: matrix-spray + config: + import: "classpath:factory-reset.yml" datasource: url: jdbc:sqlite:../db/matrix-spray.db driver-class-name: org.sqlite.JDBC @@ -38,7 +40,9 @@ jwt: tcp: enable: true # 是否开启 TCP 连接 server-enable: true # 是否开启 TCP 连接 - host: 127.0.0.1 +# host: 127.0.0.1 +# host: 192.168.1.106 + host: 192.168.1.140 # host: 192.168.100.168 port: 9080 reconnect: 5000 # 断线重连间隔（单位：毫秒） diff --git a/src/main/resources/factory-reset.yml b/src/main/resources/factory-reset.yml new file mode 100644 index 0000000..08e5c18 --- /dev/null +++ b/src/main/resources/factory-reset.yml @@ -0,0 +1,41 @@ +factory: + settings: + - id: 1 + name: "玻片高度" + code: "slide_height" + value: 101.2 + - id: 2 + name: "z轴安全高度" + code: "safe_z_height" + value: 80 + positions: + - id: 1 + pointName: "玻片1位置" + pointCode: "slide_position1" + x: 18.08 + y: 0 + z: 101.2 + - id: 2 + pointName: "玻片2位置" + pointCode: "slide_position2" + x: 45.08 + y: 0 + z: 101.2 + - id: 3 + pointName: "玻片3位置" + pointCode: "slide_position3" + x: 72.08 + y: 0 + z: 101.2 + - id: 4 + pointName: "玻片4位置" + pointCode: "slide_position4" + x: 99.08 + y: 0 + z: 101.2 + - id: 5 + pointName: "废液桶位置" + pointCode: "waste_liquor" + x: 173.08 + y: 75 + z: 70 diff --git a/src/main/resources/sql/init.sql b/src/main/resources/sql/init.sql index 1e39757..f93ccac 100644 --- a/src/main/resources/sql/init.sql +++ b/src/main/resources/sql/init.sql @@ -57,16 +57,8 @@ CREATE TABLE IF NOT EXISTS sys_settings -- 插入 sys_settings 表数据 INSERT OR IGNORE INTO sys_settings (id, parent_id, name, code, value) -VALUES (1, NULL, '电机电流', 'current', NULL), - (2, 1, 'x轴电流', 'x_current', 2), - (3, 1, 'y轴电流', 'y_current', 3), - (4, 1, 'z轴电流', 'z_current', 4), - (5, NULL, '电机运行速度', 'speed', NULL), - (6, 5, 'x轴速度', 'x_speed', 10), - (7, 5, 'y轴速度', 'y_speed', 10), - (8, 5, 'z轴速度', 'z_speed', 10), - (9, NULL, '玻片高度', 'slide_height', 101.2), - (10, NULL, 'z轴安全高度', 'safe_z_height', 80); +VALUES (1, NULL, '玻片高度', 'slide_height', 101.2), + (2, NULL, 'z轴安全高度', 'safe_z_height', 80); @@ -83,9 +75,9 @@ CREATE TABLE IF NOT EXISTS position update_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP ); -INSERT OR IGNORE INTO position (id, point_name, point_code, x, y, z) -VALUES (1,'玻片1位置', 'slide_position1', 18.08, 0, 101.2), - (2,'玻片2位置', 'slide_position2', 45.08, 0, 101.2), - (3,'玻片3位置', 'slide_position3', 72.08, 0, 101.2), - (4,'玻片4位置', 'slide_position4', 99.08, 0, 101.2), - (5,'废液桶位置', 'waste_liquor', 173.08, 75, 70); + INSERT OR IGNORE INTO position (id, point_name, point_code, x, y, z) + VALUES (1,'玻片1位置', 'slide_position1', 18.08, 0, 101.2), + (2,'玻片2位置', 'slide_position2', 45.08, 0, 101.2), + (3,'玻片3位置', 'slide_position3', 72.08, 0, 101.2), + (4,'玻片4位置', 'slide_position4', 99.08, 0, 101.2), + (5,'废液桶位置', 'waste_liquor', 173.08, 75, 70);