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 3fe6919..6617114 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 @@ -1,8 +1,11 @@ package com.qyft.ms.app.device.spray; +import cn.hutool.json.JSONObject; import com.qyft.ms.app.common.constant.WebSocketMessageType; import com.qyft.ms.app.device.status.SprayTask; +import com.qyft.ms.app.model.bo.Point2D; import com.qyft.ms.system.common.device.command.CommandFuture; +import com.qyft.ms.system.common.device.command.DeviceCommandGenerator; import com.qyft.ms.system.model.bo.DeviceCommand; import com.qyft.ms.system.service.WebSocketService; import com.qyft.ms.system.service.device.DeviceCommandService; @@ -36,18 +39,93 @@ public class SprayTaskExecutor { try { webSocketService.pushMsg(WebSocketMessageType.SPRAY_TASK, "喷涂任务线程启动"); SprayTask sprayTask = SprayTask.getInstance(); - int currentStep = sprayTask.getCurrentStep(); - for (int i = currentStep; i < sprayTask.getSpraySteps().size(); i++) { - sprayTask.setCurrentStep(i); - List sprayStepList = sprayTask.getSpraySteps().get(i); - List commandFutureList = new ArrayList<>(); - for (DeviceCommand sprayStep : sprayStepList) { - CommandFuture commandFuture = deviceCommandService.sendCommand(sprayStep); - commandFutureList.add(commandFuture); + if (!sprayTask.isSprayPreStepsCompleted()) { + //XYZ回原点 + DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(0.0); + DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorYPositionSet(0.0); + DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(0.0); + CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommand(motorXPositionSetCommand); + CommandFuture motorYPositionSetCommandFuture = deviceCommandService.sendCommand(motorYPositionSetCommand); + CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(motorZPositionSetCommand); + commandWait(motorXPositionSetCommandFuture, motorYPositionSetCommandFuture, motorZPositionSetCommandFuture); + + Double height = 101.2 - sprayTask.getSprayParams().getMotorZHeight();//TODO 101.2是玻片高度，这个应该从数据库中获取 + DeviceCommand motorZPositionSetAboveSlideCommand = DeviceCommandGenerator.motorZPositionSet(height); + CommandFuture motorZPositionSetAboveSlideCommandFuture = deviceCommandService.sendCommand(motorZPositionSetAboveSlideCommand); + commandWait(motorZPositionSetAboveSlideCommandFuture); + + DeviceCommand threeWayValveOpenSyringePipelineCommand = DeviceCommandGenerator.threeWayValveOpenSyringePipeline();//打开三通阀喷嘴管路 + CommandFuture threeWayValveOpenSyringePipelineCommandFuture = deviceCommandService.sendCommand(threeWayValveOpenSyringePipelineCommand); + commandWait(threeWayValveOpenSyringePipelineCommandFuture); + + if (sprayTask.getSprayParams().getHighVoltage()) {//加电 + DeviceCommand highVoltageOpenCommand = DeviceCommandGenerator.highVoltageOpen(sprayTask.getSprayParams().getHighVoltageValue());//开启高压 + CommandFuture highVoltageOpenCommandFuture = deviceCommandService.sendCommand(highVoltageOpenCommand); + commandWait(highVoltageOpenCommandFuture); } - CommandFuture[] commandFutureArray = commandFutureList.toArray(new CommandFuture[0]); - commandWait(commandFutureArray); + sprayTask.setSprayPreStepsCompleted(true); } + + int reCurrentStep = sprayTask.getCurrentStep(); + int currentStep = 0; + + for (List> deviceCommandList : sprayTask.getSpraySteps()) {//循环进行多次喷涂 + + DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen();//开启喷嘴阀 + DeviceCommand syringePumpForwardCommand = DeviceCommandGenerator.syringePumpForward(sprayTask.getSprayParams().getVolume());//推动移动注射泵 + CommandFuture nozzleValveOpenCommandFuture = deviceCommandService.sendCommand(nozzleValveOpenCommand); + CommandFuture syringePumpForwardCommandFuture = deviceCommandService.sendCommand(syringePumpForwardCommand); + commandWait(nozzleValveOpenCommandFuture, syringePumpForwardCommandFuture); + + List sprayStepList = new ArrayList<>(); + sprayTask.setSuspendable(true);//可以暂停，单次喷涂范围内可以进行暂停 + for (List deviceCommandAgg : deviceCommandList) {//单次喷涂 + if (reCurrentStep < currentStep) { + break; + } + List commandFutureList = new ArrayList<>(); + for (DeviceCommand sprayStep : deviceCommandAgg) { + CommandFuture commandFuture = deviceCommandService.sendCommand(sprayStep); + commandFutureList.add(commandFuture); + } + CommandFuture[] commandFutureArray = commandFutureList.toArray(new CommandFuture[0]); + //TODO开启点位推送 + commandWait(commandFutureArray); + //TODO关闭点位推送 + currentStep++; + sprayTask.setCurrentStep(currentStep);//将当前的喷涂进度缓存 + //将当前点位缓存 + DeviceCommand motorXyzPositionGetCommand = DeviceCommandGenerator.motorXyzPositionGet(); //生成电机XYZ相对原点坐标指令 + CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(motorXyzPositionGetCommand); + commandWait(motorXyzPositionGetCommandFuture); + JSONObject motorXyzPositionGetCommandResult = motorXyzPositionGetCommandFuture.getResponseResult(); + Double xAxisPosition = motorXyzPositionGetCommandResult.getDouble("xAxisPosition"); + Double yAxisPosition = motorXyzPositionGetCommandResult.getDouble("yAxisPosition"); + sprayStepList.add(new Point2D(xAxisPosition, yAxisPosition)); + } + sprayTask.setSuspendable(false);//不可暂停 + sprayTask.getSprayedPoints().add(sprayStepList); + + DeviceCommand nozzleValveCloseCommand = DeviceCommandGenerator.nozzleValveClose();//关闭喷嘴阀 + DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop();//停止推动注射泵 + CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommand(nozzleValveCloseCommand); + CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommand(syringePumpStopCommand); + commandWait(nozzleValveCloseCommandFuture, syringePumpStopCommandFuture); + } + + DeviceCommand highVoltageCloseCommand = DeviceCommandGenerator.highVoltageClose();//关闭高压 + CommandFuture highVoltageCloseCommandFuture = deviceCommandService.sendCommand(highVoltageCloseCommand); + commandWait(highVoltageCloseCommandFuture); + + //XYZ回原点 + DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(0.0); + DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorYPositionSet(0.0); + DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(0.0); + CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommand(motorXPositionSetCommand); + CommandFuture motorYPositionSetCommandFuture = deviceCommandService.sendCommand(motorYPositionSetCommand); + CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(motorZPositionSetCommand); + commandWait(motorXPositionSetCommandFuture, motorYPositionSetCommandFuture, motorZPositionSetCommandFuture); + } catch (InterruptedException e) { webSocketService.pushMsg(WebSocketMessageType.SPRAY_TASK, "喷涂任务线程停止"); Thread.currentThread().interrupt(); 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 2746fc3..1575a16 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 @@ -1,5 +1,6 @@ package com.qyft.ms.app.device.status; +import com.qyft.ms.app.model.bo.Point2D; import com.qyft.ms.system.model.bo.DeviceCommand; import lombok.Data; @@ -20,14 +21,24 @@ public class SprayTask { private volatile boolean paused = false; /** + * 当前状态是否可以暂停 + */ + private volatile boolean suspendable = false; + + /** * 设备是否正在进行的喷涂任务 */ private volatile boolean spraying = false; /** + * 喷涂前置步骤是否完成 + */ + private volatile boolean sprayPreStepsCompleted = false; + + /** * 喷涂步骤列表 */ - private final List> spraySteps = new CopyOnWriteArrayList<>(); + private final List>> spraySteps = new CopyOnWriteArrayList<>(); /** * 当前正在执行的步骤序号 @@ -35,6 +46,11 @@ public class SprayTask { private volatile int currentStep = 0; /** + * 已喷涂点位 + */ + private volatile List> sprayedPoints = new CopyOnWriteArrayList<>(); + + /** * 喷涂参数 */ private final SprayParams sprayParams = new SprayParams(); @@ -47,10 +63,6 @@ public class SprayTask { return Holder.INSTANCE; } - public void addStep(DeviceCommand... steps) { - spraySteps.add(Arrays.asList(steps)); - } - public void setChangeSprayParam(Double motorZHeight, Double gasPressure, Double volume, diff --git a/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayPause.java b/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayPause.java index 281b635..806526e 100644 --- a/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayPause.java +++ b/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayPause.java @@ -2,15 +2,19 @@ package com.qyft.ms.app.front.cmd.business; import com.qyft.ms.app.device.spray.SprayTaskExecutor; +import com.qyft.ms.app.device.status.SprayTask; import com.qyft.ms.system.common.annotation.CommandMapping; +import com.qyft.ms.system.common.constant.CommandStatus; import com.qyft.ms.system.common.device.command.CommandFuture; import com.qyft.ms.system.common.device.command.DeviceCommandGenerator; +import com.qyft.ms.system.common.device.command.FrontCommand; import com.qyft.ms.system.core.handler.BaseCommandHandler; import com.qyft.ms.system.model.bo.DeviceCommand; import com.qyft.ms.system.model.form.FrontCmdControlForm; import com.qyft.ms.system.service.device.DeviceCommandService; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; +import org.springframework.http.MediaType; import org.springframework.stereotype.Component; import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter; @@ -31,25 +35,29 @@ public class MatrixSprayPause extends BaseCommandHandler { @Override public CompletableFuture handle(FrontCmdControlForm form, ResponseBodyEmitter emitter) { return runAsync(() -> { - sprayTaskExecutor.stopTask();//终止喷涂任务线程 - - DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop(); //停止推动注射泵 - CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommand(syringePumpStopCommand, form, emitter); - DeviceCommand nozzleValveCloseCommand = DeviceCommandGenerator.nozzleValveClose(); //关闭喷嘴阀 - CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommand(nozzleValveCloseCommand, form, emitter); - DeviceCommand highVoltageCloseCommand = DeviceCommandGenerator.highVoltageClose(); //关闭高压 - CommandFuture highVoltageCloseCommandFuture = deviceCommandService.sendCommand(highVoltageCloseCommand, form, emitter); - commandWait(syringePumpStopCommandFuture, nozzleValveCloseCommandFuture, highVoltageCloseCommandFuture); - - 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 - CommandFuture motorXStopCommandFuture = deviceCommandService.sendCommand(motorXStopCommand, form, emitter); - CommandFuture motorYStopCommandFuture = deviceCommandService.sendCommand(motorYStopCommand, form, emitter); - CommandFuture motorZStopCommandFuture = deviceCommandService.sendCommand(motorZStopCommand, form, emitter); - commandWait(motorXStopCommandFuture, motorYStopCommandFuture, motorZStopCommandFuture); - - + SprayTask sprayTask = SprayTask.getInstance(); + + if(sprayTask.isSuspendable()){ + sprayTaskExecutor.stopTask();//终止喷涂任务线程 + + DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop(); //停止推动注射泵 + CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommand(syringePumpStopCommand, form, emitter); + DeviceCommand nozzleValveCloseCommand = DeviceCommandGenerator.nozzleValveClose(); //关闭喷嘴阀 + CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommand(nozzleValveCloseCommand, form, emitter); + DeviceCommand highVoltageCloseCommand = DeviceCommandGenerator.highVoltageClose(); //关闭高压 + CommandFuture highVoltageCloseCommandFuture = deviceCommandService.sendCommand(highVoltageCloseCommand, form, emitter); + commandWait(syringePumpStopCommandFuture, nozzleValveCloseCommandFuture, highVoltageCloseCommandFuture); + + 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 + CommandFuture motorXStopCommandFuture = deviceCommandService.sendCommand(motorXStopCommand, form, emitter); + CommandFuture motorYStopCommandFuture = deviceCommandService.sendCommand(motorYStopCommand, form, emitter); + CommandFuture motorZStopCommandFuture = deviceCommandService.sendCommand(motorZStopCommand, form, emitter); + commandWait(motorXStopCommandFuture, motorYStopCommandFuture, motorZStopCommandFuture); + }else{ + emitter.send(FrontCommand.backstage(form.getCmdId(), form.getCmdCode(), CommandStatus.ERROR, "当前喷涂任务不可暂停"), MediaType.APPLICATION_JSON); + } }); } } diff --git a/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayStart.java b/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayStart.java index dcb22d6..78b51e8 100644 --- a/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayStart.java +++ b/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayStart.java @@ -5,19 +5,24 @@ import com.qyft.ms.app.device.spray.SprayTaskExecutor; import com.qyft.ms.app.device.status.SprayTask; import com.qyft.ms.system.common.annotation.CommandMapping; import com.qyft.ms.system.common.constant.CommandStatus; +import com.qyft.ms.system.common.device.command.CommandFuture; import com.qyft.ms.system.common.device.command.DeviceCommandGenerator; import com.qyft.ms.system.common.device.command.FrontCommand; import com.qyft.ms.system.common.utils.CheckedRunnable; import com.qyft.ms.system.common.utils.LambdaUtil; import com.qyft.ms.system.core.handler.BaseCommandHandler; +import com.qyft.ms.system.model.bo.DeviceCommand; import com.qyft.ms.system.model.form.FrontCmdControlForm; +import com.qyft.ms.system.service.device.DeviceCommandService; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; import org.springframework.http.MediaType; import org.springframework.stereotype.Component; import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter; +import java.awt.*; import java.io.IOException; +import java.util.ArrayList; import java.util.LinkedHashMap; import java.util.List; import java.util.Map; @@ -36,6 +41,7 @@ public class MatrixSprayStart extends BaseCommandHandler { private static final ExecutorService singleExecutor = Executors.newSingleThreadExecutor(); private final SprayTaskExecutor sprayTaskExecutor; + private final DeviceCommandService deviceCommandService; private static boolean nonNullCheck(ResponseBodyEmitter emitter, String cmdId, String cmdCode, String matrixPathType, @@ -122,21 +128,9 @@ public class MatrixSprayStart extends BaseCommandHandler { if (nonNullCheck(emitter, matrixPathType, form.getCmdId(), form.getCmdCode(), motorZHeight, gasPressure, volume, highVoltage, spacing, movingSpeed, times, positionList)) return; - // 2. xyz回原点 - sprayTask.addStep(DeviceCommandGenerator.motorZPositionSet(0.0),//z轴回原点 - DeviceCommandGenerator.motorXPositionSet(0.0),//x轴回原点 - DeviceCommandGenerator.motorYPositionSet(0.0));//y轴回原点 // 3. 设定喷涂参数 sprayTask.setSprayParam(matrixPathType, motorZHeight, gasPressure, volume, highVoltage, highVoltageValue, spacing, movingSpeed, times, positionList); - // 4.开启三通阀到喷嘴管路 - sprayTask.addStep(DeviceCommandGenerator.threeWayValveOpenSyringePipeline());//打开三通阀喷嘴管路 - // 5.移动z轴到玻片上方 - Double height = 101.2 - motorZHeight;//TODO 101.2是玻片高度，这个应该从数据库中获取 - sprayTask.addStep(DeviceCommandGenerator.motorZPositionSet(height));//移动z轴到指定高度 - // 6.是否加电 设定电压 - if (highVoltage) {//加电 - sprayTask.addStep(DeviceCommandGenerator.highVoltageOpen(highVoltageValue));//开启高压 - } + // 7.循环喷涂区域 Double[][] slideArr = { //TODO 每个玻片的位置，应当从数据库获取 {18.08, 0.0}, @@ -144,6 +138,7 @@ public class MatrixSprayStart extends BaseCommandHandler { {72.08, 0.0}, {99.08, 0.0} }; + for (Map position : positionList) { int index = (int) position.get("index"); //index 第几个玻片 Double[] upperLeft = {((Number) position.get("x1")).doubleValue(), ((Number) position.get("y1")).doubleValue()}; //范围左上角 x1，y1 @@ -156,8 +151,6 @@ public class MatrixSprayStart extends BaseCommandHandler { double right = slideCompleteUCSX + lowerRight[0]; double top = slideCompleteUCSY + upperLeft[1]; double bottom = slideCompleteUCSY + lowerRight[1]; - sprayTask.addStep(DeviceCommandGenerator.motorXPositionSet(slide[0]),//移动x轴到玻片原点 - DeviceCommandGenerator.motorYPositionSet(slide[1]));//移动y轴到玻片原点 if ("horizontal".equals(matrixPathType)) {//喷涂路径类型 horizontal 横向 | vertical 纵向 | grid 网格先横向后纵向 for (int i = 0; i < times; i++) { double topReal = top; @@ -172,20 +165,14 @@ public class MatrixSprayStart extends BaseCommandHandler { spacing, PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN ); - sprayTask.addStep(DeviceCommandGenerator.nozzleValveOpen(),//开启喷嘴阀 - DeviceCommandGenerator.syringePumpForward(volume));//推动移动注射泵 - + List> deviceCommandList = new ArrayList<>(); for (PathGenerator.Points p : pathList) {//喷针移动目标位置 - sprayTask.addStep(DeviceCommandGenerator.motorXPositionSet(p.getX()),//移动x轴 - DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY()));//移动y轴 - } - sprayTask.addStep(DeviceCommandGenerator.nozzleValveClose(),//关闭喷嘴阀 - DeviceCommandGenerator.syringePumpStop());//停止推动注射泵 - - if (i + 1 != times) { //如果不是最后一次，执行完毕后回到玻片原点 - sprayTask.addStep(DeviceCommandGenerator.motorXPositionSet(slide[0]),//移动x轴到玻片原点 - DeviceCommandGenerator.motorYPositionSet(slide[1]));//移动y轴到玻片原点 + List deviceCommands = new ArrayList<>(); + deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX()));//移动x轴 + deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY()));//移动y轴 + deviceCommandList.add(deviceCommands); } + sprayTask.getSpraySteps().add(deviceCommandList); } } else if ("vertical".equals(matrixPathType)) { for (int i = 0; i < times; i++) { @@ -201,20 +188,14 @@ public class MatrixSprayStart extends BaseCommandHandler { spacing, PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT ); - sprayTask.addStep(DeviceCommandGenerator.nozzleValveOpen(),//开启喷嘴阀 - DeviceCommandGenerator.syringePumpForward(volume));//推动移动注射泵 - + List> deviceCommandList = new ArrayList<>(); for (PathGenerator.Points p : pathList) {//喷针移动目标位置 - sprayTask.addStep(DeviceCommandGenerator.motorXPositionSet(p.getX()),//移动x轴 - DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY()));//移动y轴 - } - sprayTask.addStep(DeviceCommandGenerator.nozzleValveClose(),//关闭喷嘴阀 - DeviceCommandGenerator.syringePumpStop());//停止推动注射泵 - - if (i + 1 != times) { //如果不是最后一次，执行完毕后回到玻片原点 - sprayTask.addStep(DeviceCommandGenerator.motorXPositionSet(slide[0]),//移动x轴到玻片原点 - DeviceCommandGenerator.motorYPositionSet(slide[1]));//移动y轴到玻片原点 + List deviceCommands = new ArrayList<>(); + deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX()));//移动x轴 + deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY()));//移动y轴 + deviceCommandList.add(deviceCommands); } + sprayTask.getSpraySteps().add(deviceCommandList); } } else if ("grid".equals(matrixPathType)) { for (int i = 0; i < times; i++) { @@ -234,47 +215,36 @@ public class MatrixSprayStart extends BaseCommandHandler { spacing, PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT ); - sprayTask.addStep(DeviceCommandGenerator.nozzleValveOpen(),//开启喷嘴阀 - DeviceCommandGenerator.syringePumpForward(volume));//推动移动注射泵 - + List> deviceCommandList = new ArrayList<>(); for (PathGenerator.Points p : pathList) {//喷针移动目标位置 - sprayTask.addStep(DeviceCommandGenerator.motorXPositionSet(p.getX()),//移动x轴 - DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY()));//移动y轴 + List deviceCommands = new ArrayList<>(); + deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX()));//移动x轴 + deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY()));//移动y轴 + deviceCommandList.add(deviceCommands); } - sprayTask.addStep(DeviceCommandGenerator.nozzleValveClose(),//关闭喷嘴阀 - DeviceCommandGenerator.syringePumpStop());//停止推动注射泵 + sprayTask.getSpraySteps().add(deviceCommandList); pathList = PathGenerator.generatePathPoints( leftReal, rightReal, topReal, bottomReal, spacing, PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT ); - sprayTask.addStep(DeviceCommandGenerator.nozzleValveOpen(),//开启喷嘴阀 - DeviceCommandGenerator.syringePumpForward(volume));//推动移动注射泵 + deviceCommandList = new ArrayList<>(); for (PathGenerator.Points p : pathList) {//喷针移动目标位置 - sprayTask.addStep(DeviceCommandGenerator.motorXPositionSet(p.getX()),//移动x轴 - DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY()));//移动y轴 - } - sprayTask.addStep(DeviceCommandGenerator.nozzleValveClose(),//关闭喷嘴阀 - DeviceCommandGenerator.syringePumpStop());//停止推动注射泵 - - if (i + 1 != times) { //如果不是最后一次，执行完毕后回到玻片原点 - sprayTask.addStep(DeviceCommandGenerator.motorXPositionSet(slide[0]),//移动x轴到玻片原点 - DeviceCommandGenerator.motorYPositionSet(slide[1]));//移动y轴到玻片原点 + List deviceCommands = new ArrayList<>(); + deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX()));//移动x轴 + deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY()));//移动y轴 + deviceCommandList.add(deviceCommands); } + sprayTask.getSpraySteps().add(deviceCommandList); } } + } - // 8.关高压电 - sprayTask.addStep(DeviceCommandGenerator.highVoltageClose());//关闭高压电 - // 9. xyz回原点 - sprayTask.addStep(DeviceCommandGenerator.motorZPositionSet(0.0),//z轴回原点 - DeviceCommandGenerator.motorXPositionSet(0.0),//x轴回原点 - DeviceCommandGenerator.motorYPositionSet(0.0));//y轴回原点 // 10. 启动喷涂线程，开始喷涂 sprayTaskExecutor.startTask(); - emitter.send(FrontCommand.backstage(form.getCmdId(), form.getCmdCode(), CommandStatus.SEND, "开始喷涂"), MediaType.APPLICATION_JSON); + emitter.send(FrontCommand.backstage(form.getCmdId(), form.getCmdCode(), CommandStatus.SEND, "开启喷涂线程"), MediaType.APPLICATION_JSON); }); } diff --git a/src/main/java/com/qyft/ms/app/model/bo/Point2D.java b/src/main/java/com/qyft/ms/app/model/bo/Point2D.java new file mode 100644 index 0000000..702ad64 --- /dev/null +++ b/src/main/java/com/qyft/ms/app/model/bo/Point2D.java @@ -0,0 +1,12 @@ +package com.qyft.ms.app.model.bo; + +import lombok.Data; + +@Data +public class Point2D { + private double x; + private double y; + + public Point2D(double x, double y) { + } +} diff --git a/src/main/java/com/qyft/ms/app/model/bo/Point3D.java b/src/main/java/com/qyft/ms/app/model/bo/Point3D.java new file mode 100644 index 0000000..6b9d1ee --- /dev/null +++ b/src/main/java/com/qyft/ms/app/model/bo/Point3D.java @@ -0,0 +1,13 @@ +package com.qyft.ms.app.model.bo; + +import lombok.Data; + +@Data +public class Point3D { + private double x; + private double y; + private double z; + + public Point3D(double x, double y, double z) { + } +} diff --git a/src/main/java/com/qyft/ms/system/service/device/DeviceCommandService.java b/src/main/java/com/qyft/ms/system/service/device/DeviceCommandService.java index 2a39400..f750dcc 100644 --- a/src/main/java/com/qyft/ms/system/service/device/DeviceCommandService.java +++ b/src/main/java/com/qyft/ms/system/service/device/DeviceCommandService.java @@ -34,8 +34,8 @@ public class DeviceCommandService { commandFutureMap.remove(cmdToDevice.getCommandId()); } -// cmdFuture.getResponseFuture().whenComplete((result, ex) -> -// commandFutureMap.remove(cmdToDevice.getCommandId())); + cmdFuture.getResponseFuture().whenComplete((result, ex) -> + commandFutureMap.remove(cmdToDevice.getCommandId())); return cmdFuture; }