baifengji
/
matrix-spray-v2
1
0
Fork 0
Code Issues Pull Requests Projects Releases 1 Wiki Activity
Browse Source

我也不知道改了什么

tags/1.0
白凤吉 5 months ago
parent
214ebd63a5
commit
ff106bc2ec
13 changed files with 179 additions and 45 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      src/main/java/com/qyft/ms/app/controller/SprayTaskController.java
  2. 2
      src/main/java/com/qyft/ms/app/device/spray/SensorCollector.java
  3. 70
      src/main/java/com/qyft/ms/app/device/spray/SprayTaskExecutor.java
  4. 2
      src/main/java/com/qyft/ms/app/front/cmd/business/DehumidifierStart.java
  5. 2
      src/main/java/com/qyft/ms/app/front/cmd/business/DeviceSelfTest.java
  6. 6
      src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayChangeParam.java
  7. 82
      src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayStart.java
  8. 10
      src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelinePreFill.java
  9. 5
      src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelinePreFillStop.java
  10. 5
      src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelineWash.java
  11. 19
      src/main/java/com/qyft/ms/app/front/cmd/business/SyringePipelineWash.java
  12. 10
      src/main/java/com/qyft/ms/app/front/cmd/business/SyringePipelineWashStop.java
  13. 9
      src/main/java/com/qyft/ms/app/model/vo/SprayTaskStatusVO.java

2
src/main/java/com/qyft/ms/app/controller/SprayTaskController.java
View File

@ -23,6 +23,8 @@ public class SprayTaskController {
public Result<SprayTaskStatusVO> getStatus() {
SprayTask sprayTask = SprayTask.getInstance();
SprayTaskStatusVO sprayTaskStatusVO = new SprayTaskStatusVO();
sprayTaskStatusVO.setCmdId(sprayTask.getCmdId());
sprayTaskStatusVO.setCmdCode(sprayTask.getCmdCode());
sprayTaskStatusVO.setSprayTaskSprayedList(sprayTask.getSprayTaskSprayedList());
sprayTaskStatusVO.setSprayParams(sprayTask.getCacheParams());
return Result.success(sprayTaskStatusVO);

2
src/main/java/com/qyft/ms/app/device/spray/SensorCollector.java
View File

@ -33,7 +33,7 @@ public class SensorCollector {
CommandFuture humidityGetCmdFuture = deviceCommandService.sendCommandNoFront(humidityGetCmd);
commandWait(humidityGetCmdFuture);
JSONObject humidityGetCmdFutureResult = humidityGetCmdFuture.getResponseResult();
Double deviceHumidity = humidityGetCmdFutureResult.getDouble("humidity");
Double deviceHumidity = humidityGetCmdFutureResult.getJSONObject("data").getDouble("humidity");
Map<String, Object> map = new HashMap<>();
map.put("humidity", deviceHumidity);
webSocketService.pushMsgNoLog(WebSocketMessageType.SENSOR, map);

70
src/main/java/com/qyft/ms/app/device/spray/SprayTaskExecutor.java
View File

@ -81,13 +81,13 @@ public class SprayTaskExecutor {
CommandFuture motorYPositionSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYPositionSetCommand);
CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZPositionSetCommand);
commandWait(motorXPositionSetCommandFuture, motorYPositionSetCommandFuture, motorZPositionSetCommandFuture);
SysSettings slideHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper<SysSettings>().eq(SysSettings::getCode, "slide_height"));
Double slideHeight = Double.parseDouble(slideHeightSysSettings.getValue());
Double height = slideHeight - sprayTask.getSprayParams().getMotorZHeight();
DeviceCommand motorZPositionSetAboveSlideCommand = DeviceCommandGenerator.motorZPositionSet(height);
CommandFuture motorZPositionSetAboveSlideCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZPositionSetAboveSlideCommand);
commandWait(motorZPositionSetAboveSlideCommandFuture);
//
// SysSettings slideHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper<SysSettings>().eq(SysSettings::getCode, "slide_height"));
// Double slideHeight = Double.parseDouble(slideHeightSysSettings.getValue());
// Double height = slideHeight - sprayTask.getSprayParams().getMotorZHeight();//下降z轴高度
// DeviceCommand motorZPositionSetAboveSlideCommand = DeviceCommandGenerator.motorZPositionSet(height);
// CommandFuture motorZPositionSetAboveSlideCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZPositionSetAboveSlideCommand);
// commandWait(motorZPositionSetAboveSlideCommandFuture);
DeviceCommand threeWayValveOpenSyringePipelineCommand = DeviceCommandGenerator.threeWayValveOpenSyringePipeline();//打开三通阀喷嘴管路
CommandFuture threeWayValveOpenSyringePipelineCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), threeWayValveOpenSyringePipelineCommand);
@ -100,15 +100,45 @@ public class SprayTaskExecutor {
}
sprayTask.setSprayPreStepsCompleted(true);
}
DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen();//开启喷嘴阀
CommandFuture nozzleValveOpenCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), nozzleValveOpenCommand);
commandWait(nozzleValveOpenCommandFuture);
int reCurrentStep = sprayTask.getCurrentStep();
int currentStep = 0; //当前喷涂步骤
int sprayNum = 1;
for (SprayTaskStep sprayTaskStep : sprayTask.getSprayTaskStepList()) {//循环进行多次喷涂
//加快速度
// DeviceCommand motorXSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorXSpeedSet(20.0);//x轴电机速度设置
// DeviceCommand motorYSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorYSpeedSet(20.0);//y轴电机速度设置
// DeviceCommand motorZSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorZSpeedSet(20.0);//z轴电机速度设置
// CommandFuture motorXSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXSpeedSetCmdToDeviceCommand);
// CommandFuture motorYSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYSpeedSetCmdToDeviceCommand);
// CommandFuture motorZSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZSpeedSetCmdToDeviceCommand);
// commandWait(motorXSpeedSetCmdToDeviceCommandFuture, motorYSpeedSetCmdToDeviceCommandFuture, motorZSpeedSetCmdToDeviceCommandFuture);
//先移动到玻片位置
DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(slideArr[sprayTaskStep.getIndex()][0],20.0);
DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorYPositionSet(slideArr[sprayTaskStep.getIndex()][1],20.0);
CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXPositionSetCommand);
CommandFuture motorYPositionSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYPositionSetCommand);
SysSettings slideHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper<SysSettings>().eq(SysSettings::getCode, "slide_height"));
Double slideHeight = Double.parseDouble(slideHeightSysSettings.getValue());
Double height = slideHeight - sprayTask.getSprayParams().getMotorZHeight();//下降z轴高度
DeviceCommand motorZPositionSetAboveSlideCommand = DeviceCommandGenerator.motorZPositionSet(height,15.0);
CommandFuture motorZPositionSetAboveSlideCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZPositionSetAboveSlideCommand);
commandWait(motorXPositionSetCommandFuture, motorYPositionSetCommandFuture, motorZPositionSetAboveSlideCommandFuture);
//还原速度
// motorXSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorXSpeedSet(sprayTask.getSprayParams().getMovingSpeed());//x轴电机速度设置
// motorYSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorYSpeedSet(sprayTask.getSprayParams().getMovingSpeed());//y轴电机速度设置
// motorZSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorZSpeedSet(sprayTask.getSprayParams().getMovingSpeed());//y轴电机速度设置
// motorXSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXSpeedSetCmdToDeviceCommand);
// motorYSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYSpeedSetCmdToDeviceCommand);
// motorZSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZSpeedSetCmdToDeviceCommand);
// commandWait(motorXSpeedSetCmdToDeviceCommandFuture, motorYSpeedSetCmdToDeviceCommandFuture, motorZSpeedSetCmdToDeviceCommandFuture);
DeviceCommand syringePumpForwardCommand = DeviceCommandGenerator.syringePumpForward(sprayTask.getSprayParams().getVolume());//推动移动注射泵
CommandFuture syringePumpForwardCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpForwardCommand);
commandWait(syringePumpForwardCommandFuture);
@ -170,15 +200,33 @@ public class SprayTaskExecutor {
CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), nozzleValveCloseCommand);
commandWait(nozzleValveCloseCommandFuture);
//加快速度
// DeviceCommand motorXSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorXSpeedSet(20.0);//x轴电机速度设置
// DeviceCommand motorYSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorYSpeedSet(20.0);//y轴电机速度设置
// DeviceCommand motorZSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorZSpeedSet(20.0);//y轴电机速度设置
// CommandFuture motorXSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXSpeedSetCmdToDeviceCommand);
// CommandFuture motorYSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYSpeedSetCmdToDeviceCommand);
// CommandFuture motorZSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZSpeedSetCmdToDeviceCommand);
// commandWait(motorXSpeedSetCmdToDeviceCommandFuture, motorYSpeedSetCmdToDeviceCommandFuture, motorZSpeedSetCmdToDeviceCommandFuture);
//XYZ回原点
DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(0.0);
DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorYPositionSet(0.0);
DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(0.0);
DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(0.0,20.0);
DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorYPositionSet(0.0,20.0);
DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(0.0,15.0);
CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXPositionSetCommand);
CommandFuture motorYPositionSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYPositionSetCommand);
CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZPositionSetCommand);
commandWait(motorXPositionSetCommandFuture, motorYPositionSetCommandFuture, motorZPositionSetCommandFuture);
//还原速度
// motorXSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorXSpeedSet(sprayTask.getSprayParams().getMovingSpeed());//x轴电机速度设置
// motorYSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorYSpeedSet(sprayTask.getSprayParams().getMovingSpeed());//y轴电机速度设置
// motorZSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorZSpeedSet(sprayTask.getSprayParams().getMovingSpeed());//y轴电机速度设置
// motorXSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXSpeedSetCmdToDeviceCommand);
// motorYSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYSpeedSetCmdToDeviceCommand);
// motorZSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZSpeedSetCmdToDeviceCommand);
// commandWait(motorXSpeedSetCmdToDeviceCommandFuture, motorYSpeedSetCmdToDeviceCommandFuture, motorZSpeedSetCmdToDeviceCommandFuture);
SprayTask.getInstance().clear();
deviceStatus.setSpraying(false);
deviceStatus.setSuspendable(false);

2
src/main/java/com/qyft/ms/app/front/cmd/business/DehumidifierStart.java
View File

@ -49,7 +49,7 @@ public class DehumidifierStart extends BaseCommandHandler {
commandWait(humidityGetCmdFuture);
JSONObject humidityGetCmdFutureResult = humidityGetCmdFuture.getResponseResult();
Double deviceHumidity = humidityGetCmdFutureResult.getDouble("humidity");
Double deviceHumidity = humidityGetCmdFutureResult.getJSONObject("data").getDouble("humidity");
// 判断是否需要除湿：若前端设定湿度大于当前湿度，则无需开启除湿阀
if (humidity > deviceHumidity) {

2
src/main/java/com/qyft/ms/app/front/cmd/business/DeviceSelfTest.java
View File

@ -41,7 +41,7 @@ public class DeviceSelfTest extends BaseCommandHandler {
commandWait(motorXOriginCommandFuture, motorYOriginCommandFuture, motorZOriginCommandFuture);
try {
if (motorXOriginCommandFuture.getResponseResult().getBool("status")) {
selfTestService.getSelfTestStatus().setXAxisAtOrigin(false);
selfTestService.getSelfTestStatus().setXAxisAtOrigin(true);
}
if (motorYOriginCommandFuture.getResponseResult().getBool("status")) {
selfTestService.getSelfTestStatus().setYAxisAtOrigin(true);

6
src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayChangeParam.java
View File

@ -57,9 +57,9 @@ public class MatrixSprayChangeParam extends BaseCommandHandler {
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);
// 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<SysSettings>().eq(SysSettings::getCode, "slide_height"));
Double slideHeight = Double.parseDouble(slideHeightSysSettings.getValue());

82
src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayStart.java
View File

@ -54,15 +54,15 @@ public class MatrixSprayStart extends BaseCommandHandler {
private final DeviceCommandService deviceCommandService;
private void nonNullCheck(String cmdId, String cmdCode,
String matrixPathType,
Double motorZHeight,
Double gasPressure,
Double volume,
Boolean highVoltage,
Double spacing,
Double movingSpeed,
Double times,
Object position) {
String matrixPathType,
Double motorZHeight,
Double gasPressure,
Double volume,
Boolean highVoltage,
Double spacing,
Double movingSpeed,
Double times,
Object position) {
Map<String, Object> paramMap = new LinkedHashMap<>();
paramMap.put("matrix_path_type", matrixPathType);
@ -159,9 +159,9 @@ public class MatrixSprayStart extends BaseCommandHandler {
CommandFuture motorZSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZSpeedSetCmdToDeviceCommand);
commandWait(motorXSpeedSetCmdToDeviceCommandFuture, motorYSpeedSetCmdToDeviceCommandFuture, motorZSpeedSetCmdToDeviceCommandFuture);
//2.流速
DeviceCommand syringePumpVolumeSetCommand = DeviceCommandGenerator.syringePumpVolumeSet(sprayTask.getSprayParams().getVolume());//注射泵流速设置
CommandFuture syringePumpVolumeSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpVolumeSetCommand);
commandWait(syringePumpVolumeSetCommandFuture);
// DeviceCommand syringePumpVolumeSetCommand = DeviceCommandGenerator.syringePumpVolumeSet(sprayTask.getSprayParams().getVolume());//注射泵流速设置
// CommandFuture syringePumpVolumeSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpVolumeSetCommand);
// commandWait(syringePumpVolumeSetCommandFuture);
// 7.循环喷涂区域
Position slidePosition1 = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "slide_position1"));
@ -181,8 +181,8 @@ public class MatrixSprayStart extends BaseCommandHandler {
Double[] slide = slideArr[index];//获取玻片的坐标
//规划路线坐标
DecimalFormat df = new DecimalFormat("#.##");
double left = Double.parseDouble(df.format( slide[0] + upperLeft[0]));
double right = Double.parseDouble(df.format( slide[0] + lowerRight[0]));
double left = Double.parseDouble(df.format(slide[0] + upperLeft[0]));
double right = Double.parseDouble(df.format(slide[0] + lowerRight[0]));
double top = Double.parseDouble(df.format(slide[1] + upperLeft[1]));
double bottom = Double.parseDouble(df.format(slide[1] + lowerRight[1]));
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
@ -204,12 +204,21 @@ public class MatrixSprayStart extends BaseCommandHandler {
PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN
);
List<List<DeviceCommand>> deviceCommandList = new ArrayList<>();
for (PathGenerator.Points p : pathList) {//喷针移动目标位置
for (int j = 0; j < pathList.size(); j++) {
PathGenerator.Points p = pathList.get(j);
List<DeviceCommand> 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
if (j == 0) {
deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), movingSpeed));//移动x轴
deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), movingSpeed));//移动y轴
}
if (j == pathList.size() - 1) {
deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), 20.0));//移动x轴
deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), 20.0));//移动y轴
}
deviceCommandList.add(deviceCommands);
}
SprayTaskStep sprayTaskStep = new SprayTaskStep();
sprayTaskStep.setIndex(index);
sprayTaskStep.setSpraySteps(deviceCommandList);
@ -234,10 +243,17 @@ public class MatrixSprayStart extends BaseCommandHandler {
PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT
);
List<List<DeviceCommand>> deviceCommandList = new ArrayList<>();
for (PathGenerator.Points p : pathList) {//喷针移动目标位置
for (int j = 0; j < pathList.size(); j++) {
PathGenerator.Points p = pathList.get(j);
List<DeviceCommand> 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
if (j == 0) {
deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), movingSpeed));//移动x轴
deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), movingSpeed));//移动y轴
}
if (j == pathList.size() - 1) {
deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), 20.0));//移动x轴
deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), 20.0));//移动y轴
}
deviceCommandList.add(deviceCommands);
}
SprayTaskStep sprayTaskStep = new SprayTaskStep();
@ -264,10 +280,17 @@ public class MatrixSprayStart extends BaseCommandHandler {
PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN
);
List<List<DeviceCommand>> deviceCommandList = new ArrayList<>();
for (PathGenerator.Points p : pathList) {//喷针移动目标位置
for (int j = 0; j < pathList.size(); j++) {
PathGenerator.Points p = pathList.get(j);
List<DeviceCommand> 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
if (j == 0) {
deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), movingSpeed));//移动x轴
deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), movingSpeed));//移动y轴
}
if (j == pathList.size() - 1) {
deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), 20.0));//移动x轴
deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), 20.0));//移动y轴
}
deviceCommandList.add(deviceCommands);
}
SprayTaskStep sprayTaskStep = new SprayTaskStep();
@ -281,10 +304,17 @@ public class MatrixSprayStart extends BaseCommandHandler {
PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT
);
deviceCommandList = new ArrayList<>();
for (PathGenerator.Points p : pathList) {//喷针移动目标位置
for (int j = 0; j < pathList.size(); j++) {
PathGenerator.Points p = pathList.get(j);
List<DeviceCommand> 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
if (j == 0) {
deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), movingSpeed));//移动x轴
deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), movingSpeed));//移动y轴
}
if (j == pathList.size() - 1) {
deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), 20.0));//移动x轴
deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), 20.0));//移动y轴
}
deviceCommandList.add(deviceCommands);
}
SprayTaskStep sprayTaskStep2 = new SprayTaskStep();

10
src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelinePreFill.java
View File

@ -48,6 +48,10 @@ public class NozzlePipelinePreFill extends BaseCommandHandler {
webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.ERROR, "参数 speed 必填"));
throw new RuntimeException("参数 speed 必填");
}
if (speed > 100) {
webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.ERROR, "预充速度不能大于100"));
throw new RuntimeException("预充速度不能大于100");
}
deviceStatus.setPrefilling(true);
return runAsync(() -> {
//2.判断z轴是否在安全距离，如果不在安全距离可以不抬升z轴
@ -76,6 +80,12 @@ public class NozzlePipelinePreFill extends BaseCommandHandler {
DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(wasteLiquor.getZ(), speed);
CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZPositionSetCommand);
commandWait(motorZPositionSetCommandFuture);
//7.开启喷嘴阀
DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen(); // 开启喷嘴阀
CommandFuture nozzleValveOpenCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleValveOpenCommand);
commandWait(nozzleValveOpenCommandFuture);
//5.打开三通阀注射器管路
DeviceCommand threeWayValveOpenNozzlePipelineCommand = DeviceCommandGenerator.threeWayValveOpenNozzlePipeline();
CommandFuture threeWayValveOpenNozzlePipelineCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), threeWayValveOpenNozzlePipelineCommand);

5
src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelinePreFillStop.java
View File

@ -38,6 +38,11 @@ public class NozzlePipelinePreFillStop extends BaseCommandHandler {
CommandFuture threeWayValveCloseAllCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), threeWayValveCloseAllCommand);
commandWait(syringePumpStopCommandFuture, threeWayValveCloseAllCommandFuture);
//7.关闭喷嘴阀
DeviceCommand nozzleValveCloseCommand = DeviceCommandGenerator.nozzleValveClose(); // 关闭喷嘴阀
CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleValveCloseCommand);
commandWait(nozzleValveCloseCommandFuture);
deviceStatus.setPrefilling(false);
});

5
src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelineWash.java
View File

@ -77,6 +77,11 @@ public class NozzlePipelineWash extends BaseCommandHandler {
CommandFuture threeWayValveOpenSyringePipelineCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), threeWayValveOpenSyringePipelineCommand);
commandWait(threeWayValveOpenSyringePipelineCommandFuture);
//6.打开清洗阀
DeviceCommand washValveOpenCommand = DeviceCommandGenerator.washValveOpen(); // 生成打开清洗阀指令
CommandFuture washValveOpenCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), washValveOpenCommand);
commandWait(washValveOpenCommandFuture);
} catch (Exception e) {
deviceStatus.setCleaningNozzlePipeline(false);
throw new RuntimeException(e);

19
src/main/java/com/qyft/ms/app/front/cmd/business/SyringePipelineWash.java
View File

@ -48,6 +48,10 @@ public class SyringePipelineWash extends BaseCommandHandler {
webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.ERROR, "参数 speed 必填"));
throw new RuntimeException("参数 speed 必填");
}
if (speed > 100) {
webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.ERROR, "清洗速度不能大于100"));
throw new RuntimeException("预充速度不能大于100");
}
deviceStatus.setCleaningSyringePipeline(true);
return runAsync(() -> {
try {
@ -77,11 +81,24 @@ public class SyringePipelineWash extends BaseCommandHandler {
DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(wasteLiquor.getZ(), speed);
CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZPositionSetCommand);
commandWait(motorZPositionSetCommandFuture);
//5.打开三通阀注射器管路
DeviceCommand threeWayValveOpenNozzlePipelineCommand = DeviceCommandGenerator.threeWayValveOpenNozzlePipeline();
CommandFuture threeWayValveOpenNozzlePipelineCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), threeWayValveOpenNozzlePipelineCommand);
commandWait(threeWayValveOpenNozzlePipelineCommandFuture);
//6.设置注射泵速度，推注射泵
//6.打开清洗阀
DeviceCommand washValveOpenCommand = DeviceCommandGenerator.washValveOpen(); // 生成打开清洗阀指令
CommandFuture washValveOpenCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), washValveOpenCommand);
commandWait(washValveOpenCommandFuture);
//7.开启喷嘴阀
DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen(); // 开启喷嘴阀
CommandFuture nozzleValveOpenCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleValveOpenCommand);
commandWait(nozzleValveOpenCommandFuture);
//7.设置注射泵速度，推注射泵
DeviceCommand syringePumpStartCommand = DeviceCommandGenerator.syringePumpForward(speed); // 生成移动注射泵指令
CommandFuture syringePumpStartCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpStartCommand);
commandWait(syringePumpStartCommandFuture);

10
src/main/java/com/qyft/ms/app/front/cmd/business/SyringePipelineWashStop.java
View File

@ -37,6 +37,16 @@ public class SyringePipelineWashStop extends BaseCommandHandler {
CommandFuture threeWayValveCloseAllCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), threeWayValveCloseAllCommand);
commandWait(syringePumpStopCommandFuture, threeWayValveCloseAllCommandFuture);
//6.关闭清洗阀
DeviceCommand washValveCloseCommand = DeviceCommandGenerator.washValveClose(); // 关闭清洗阀
CommandFuture washValveCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), washValveCloseCommand);
commandWait(washValveCloseCommandFuture);
//7.关闭喷嘴阀
DeviceCommand nozzleValveCloseCommand = DeviceCommandGenerator.nozzleValveClose(); // 关闭喷嘴阀
CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleValveCloseCommand);
commandWait(nozzleValveCloseCommandFuture);
deviceStatus.setCleaningSyringePipeline(false);
deviceStatus.setCleaningNozzlePipeline(false);
});

9
src/main/java/com/qyft/ms/app/model/vo/SprayTaskStatusVO.java
View File

@ -13,7 +13,14 @@ import java.util.Map;
*/
@Data
public class SprayTaskStatusVO {
/**
* 前端指令id
*/
private String cmdId;
/**
* 前端指令code
*/
private String cmdCode;
/**
* 已喷涂点位
*/

Write Preview
Loading…
Cancel
Save