同步代码

src/main/java/com/qyft/ms/app/common/command/CommandWaitControl.java

@@ -10,7 +10,7 @@ public class CommandWaitControl {
         }
     }
     public synchronized void commandWait() {
-        commandWait(3000);
+        commandWait(5000);
     }
     public synchronized  void commandContinue() {
         notify();

src/main/java/com/qyft/ms/app/controller/FrontCmdController.java

@@ -2,20 +2,27 @@ package com.qyft.ms.app.controller;
 
 import cn.hutool.json.JSONUtil;
 import com.qyft.ms.app.common.command.CurrentSendCmdMapInstance;
+import com.qyft.ms.app.common.command.FrontCommandAck;
+import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.core.registry.CommandHandlerRegistry;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.form.CMDFormV2;
+import com.qyft.ms.device.device.DeviceInstance;
+import com.qyft.ms.device.model.DeviceStatusEnum;
 import com.qyft.ms.device.service.DeviceTcpCMDServiceV2;
 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.http.MediaType;
 import org.springframework.web.bind.annotation.PostMapping;
 import org.springframework.web.bind.annotation.RequestBody;
 import org.springframework.web.bind.annotation.RequestMapping;
 import org.springframework.web.bind.annotation.RestController;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
+import java.io.IOException;
+
 @Tag(name = "前端调用指令")
 @RestController
 @RequestMapping("/api/device/front")
@@ -29,6 +36,17 @@ public class FrontCmdController {
     @PostMapping("/control")
     public ResponseBodyEmitter controlMethod(@RequestBody CMDFormV2 cmdForm) {
         ResponseBodyEmitter emitter = new ResponseBodyEmitter(3600000L);
+        if (DeviceInstance.getInstance().getDeviceStatus() == DeviceStatusEnum.UNKNOWN) {
+            //设备未归零
+            try {
+                String frontCmdId = cmdForm.getCmdId();
+                String frontCmdName = cmdForm.getCmdName();
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "后台已收到指令,但设备未归零完毕不执行."), MediaType.APPLICATION_JSON);
+            } catch (IOException e) {
+                throw new RuntimeException(e);
+            }
+        }
+
         String frontCmdName = cmdForm.getCmdName(); // 获取前端传入的命令字符串
 
         CommandHandler handler = registry.getHandler(frontCmdName);

src/main/java/com/qyft/ms/app/controller/FrontCmdDebugController.java

@@ -2,20 +2,27 @@ package com.qyft.ms.app.controller;
 
 import cn.hutool.json.JSONUtil;
 import com.qyft.ms.app.common.command.CurrentSendCmdMapInstance;
+import com.qyft.ms.app.common.command.FrontCommandAck;
+import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.core.registry.CommandHandlerRegistry;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.form.CMDFormV2;
+import com.qyft.ms.device.device.DeviceInstance;
+import com.qyft.ms.device.model.DeviceStatusEnum;
 import com.qyft.ms.device.service.DeviceTcpCMDServiceV2;
 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.http.MediaType;
 import org.springframework.web.bind.annotation.PostMapping;
 import org.springframework.web.bind.annotation.RequestBody;
 import org.springframework.web.bind.annotation.RequestMapping;
 import org.springframework.web.bind.annotation.RestController;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
+import java.io.IOException;
+
 @Tag(name = "前端调用指令")
 @RestController
 @RequestMapping("/api/device/debug/front")
@@ -29,6 +36,17 @@ public class FrontCmdDebugController {
     @PostMapping("/control")
     public ResponseBodyEmitter controlMethod(@RequestBody CMDFormV2 cmdForm) {
         ResponseBodyEmitter emitter = new ResponseBodyEmitter();
+        if (DeviceInstance.getInstance().getDeviceStatus() == DeviceStatusEnum.UNKNOWN) {
+            //设备未归零
+            try {
+                String frontCmdId = cmdForm.getCmdId();
+                String frontCmdName = cmdForm.getCmdName();
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "后台已收到指令,但设备未归零完毕不执行."), MediaType.APPLICATION_JSON);
+            } catch (IOException e) {
+                throw new RuntimeException(e);
+            }
+        }
+
         String frontCmdName = cmdForm.getCmdName(); // 获取前端传入的命令字符串
 
         CommandHandler handler = registry.getHandler(frontCmdName);

src/main/java/com/qyft/ms/app/handler/debugimpl/DehumidifierValveClose.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;

src/main/java/com/qyft/ms/app/handler/debugimpl/DehumidifierValveOpen.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;

src/main/java/com/qyft/ms/app/handler/debugimpl/HighVoltageClose.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;

src/main/java/com/qyft/ms/app/handler/debugimpl/HighVoltageOpen.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;

src/main/java/com/qyft/ms/app/handler/debugimpl/LaserControlClose.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;

src/main/java/com/qyft/ms/app/handler/debugimpl/LaserControlOpen.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;

src/main/java/com/qyft/ms/app/handler/debugimpl/LightingPanelClose.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;

src/main/java/com/qyft/ms/app/handler/debugimpl/LightingPanelOpen.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;

src/main/java/com/qyft/ms/app/handler/debugimpl/MotorXMove.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;

src/main/java/com/qyft/ms/app/handler/debugimpl/MotorXOrigin.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;

src/main/java/com/qyft/ms/app/handler/debugimpl/MotorXStop.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;

src/main/java/com/qyft/ms/app/handler/debugimpl/MotorXYZPositionGet.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;

src/main/java/com/qyft/ms/app/handler/debugimpl/MotorYMove.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;

src/main/java/com/qyft/ms/app/handler/debugimpl/MotorYOrigin.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;

src/main/java/com/qyft/ms/app/handler/debugimpl/MotorYStop.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;

src/main/java/com/qyft/ms/app/handler/debugimpl/MotorZMove.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;

src/main/java/com/qyft/ms/app/handler/debugimpl/MotorZOrigin.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;

src/main/java/com/qyft/ms/app/handler/debugimpl/MotorZStop.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;

src/main/java/com/qyft/ms/app/handler/debugimpl/NozzleValveClose.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;

src/main/java/com/qyft/ms/app/handler/debugimpl/NozzleValveOpen.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;

src/main/java/com/qyft/ms/app/handler/debugimpl/SyringePumpStart.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;

src/main/java/com/qyft/ms/app/handler/debugimpl/ThreeWayValveCloseAll.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;

src/main/java/com/qyft/ms/app/handler/debugimpl/ThreeWayValveOpenNuzzlePipeline.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;

src/main/java/com/qyft/ms/app/handler/debugimpl/ThreeWayValveOpenSyringePipeline.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;

src/main/java/com/qyft/ms/app/handler/debugimpl/WashValveClose.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;

src/main/java/com/qyft/ms/app/handler/debugimpl/WashValveOpen.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;

src/main/java/com/qyft/ms/app/handler/impl/DehumidifierStart.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import org.springframework.http.MediaType;
 import org.springframework.scheduling.annotation.Async;

src/main/java/com/qyft/ms/app/handler/impl/DehumidifierStop.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import org.springframework.http.MediaType;
 import org.springframework.scheduling.annotation.Async;

src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayChangeParam.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;

src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayContinue.java

@@ -11,7 +11,7 @@ import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.handler.MatrixSprayState;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;

src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayPause.java

@@ -11,7 +11,7 @@ import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.handler.MatrixSprayState;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;

src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayStart.java

@@ -12,8 +12,8 @@ import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.handler.MatrixSprayState;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
-import com.qyft.ms.device.handler.DeviceMessageHandler;
+import com.qyft.ms.device.core.client.TcpClient;
+import com.qyft.ms.device.core.handler.DeviceMessageHandler;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;
@@ -707,7 +707,7 @@ public class MatrixSprayStart implements CommandHandler {
     }
 
     private boolean originZ(ResponseBodyEmitter emitter, String frontCmdId, String frontCmdName) throws IOException {
-        CMDToDevice motorZOriginCMDToDevice = DeviceCommandGenerator.motor_z_origin(); // 生成 z轴回原点指令
+        CMDToDevice motorZOriginCMDToDevice = DeviceCommandGenerator.motor_z_position_set(0.0); // 生成 z轴回原点指令
         CommandFuture motorZOriginCMDToDeviceFuture = new CommandFuture();
         motorZOriginCMDToDeviceFuture.setCmdToDevice(motorZOriginCMDToDevice);
         Integer motorZOriginCmdId = motorZOriginCMDToDevice.getCmdId();
@@ -747,7 +747,7 @@ public class MatrixSprayStart implements CommandHandler {
     }
 
     private boolean originX(ResponseBodyEmitter emitter, String frontCmdId, String frontCmdName) throws IOException {
-        CMDToDevice motorXOriginCMDToDevice = DeviceCommandGenerator.motor_x_origin(); //x轴回原点指令
+        CMDToDevice motorXOriginCMDToDevice = DeviceCommandGenerator.motor_x_position_set(0.0); //x轴回原点指令
         CommandFuture motorXOriginCMDToDeviceFuture = new CommandFuture();
         motorXOriginCMDToDeviceFuture.setCmdToDevice(motorXOriginCMDToDevice);
         Integer motorXOriginCmdId = motorXOriginCMDToDevice.getCmdId();
@@ -784,7 +784,7 @@ public class MatrixSprayStart implements CommandHandler {
     }
 
     private boolean originY(ResponseBodyEmitter emitter, String frontCmdId, String frontCmdName) throws IOException {
-        CMDToDevice motorYOriginCMDToDevice = DeviceCommandGenerator.motor_y_origin(); //y轴回原点指令
+        CMDToDevice motorYOriginCMDToDevice = DeviceCommandGenerator.motor_y_position_set(0.0); //y轴回原点指令
         CommandFuture motorYOriginCMDToDeviceFuture = new CommandFuture();
         motorYOriginCMDToDeviceFuture.setCmdToDevice(motorYOriginCMDToDevice);
         Integer motorYOriginCmdId = motorYOriginCMDToDevice.getCmdId();

src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayStop.java

@@ -11,8 +11,8 @@ import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.handler.MatrixSprayState;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
-import com.qyft.ms.device.handler.DeviceMessageHandler;
+import com.qyft.ms.device.core.client.TcpClient;
+import com.qyft.ms.device.core.handler.DeviceMessageHandler;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;
@@ -223,7 +223,7 @@ public class MatrixSprayStop implements CommandHandler {
         deviceMessageHandler.setLatch(latch);
         // z轴回原点
         if (originZ(emitter, frontCmdId, frontCmdName)) return;
-        boolean finished = latch.await(5, TimeUnit.SECONDS);
+        boolean finished = latch.await(10, TimeUnit.SECONDS);
         if (!finished) {
             throw new TimeoutException("等待指令执行完成超时");
         }
@@ -234,7 +234,7 @@ public class MatrixSprayStop implements CommandHandler {
 
         // y轴回原点
         if (originY(emitter, frontCmdId, frontCmdName)) return;
-        finished = latch.await(5, TimeUnit.SECONDS);
+        finished = latch.await(10, TimeUnit.SECONDS);
         if (!finished) {
             throw new TimeoutException("等待指令执行完成超时");
         }
@@ -250,7 +250,7 @@ public class MatrixSprayStop implements CommandHandler {
 
 
     private boolean originZ(ResponseBodyEmitter emitter, String frontCmdId, String frontCmdName) throws IOException {
-        CMDToDevice motorZOriginCMDToDevice = DeviceCommandGenerator.motor_z_origin(); // 生成 z轴回原点指令
+        CMDToDevice motorZOriginCMDToDevice = DeviceCommandGenerator.motor_z_position_set(0.0); // 生成 z轴回原点指令
         CommandFuture motorZOriginCMDToDeviceFuture = new CommandFuture();
         motorZOriginCMDToDeviceFuture.setCmdToDevice(motorZOriginCMDToDevice);
         Integer motorZOriginCmdId = motorZOriginCMDToDevice.getCmdId();
@@ -290,7 +290,7 @@ public class MatrixSprayStop implements CommandHandler {
     }
 
     private boolean originX(ResponseBodyEmitter emitter, String frontCmdId, String frontCmdName) throws IOException {
-        CMDToDevice motorXOriginCMDToDevice = DeviceCommandGenerator.motor_x_origin(); //x轴回原点指令
+        CMDToDevice motorXOriginCMDToDevice = DeviceCommandGenerator.motor_x_position_set(0.0); //x轴回原点指令
         CommandFuture motorXOriginCMDToDeviceFuture = new CommandFuture();
         motorXOriginCMDToDeviceFuture.setCmdToDevice(motorXOriginCMDToDevice);
         Integer motorXOriginCmdId = motorXOriginCMDToDevice.getCmdId();
@@ -327,7 +327,7 @@ public class MatrixSprayStop implements CommandHandler {
     }
 
     private boolean originY(ResponseBodyEmitter emitter, String frontCmdId, String frontCmdName) throws IOException {
-        CMDToDevice motorYOriginCMDToDevice = DeviceCommandGenerator.motor_y_origin(); //y轴回原点指令
+        CMDToDevice motorYOriginCMDToDevice = DeviceCommandGenerator.motor_y_position_set(0.0); //y轴回原点指令
         CommandFuture motorYOriginCMDToDeviceFuture = new CommandFuture();
         motorYOriginCMDToDeviceFuture.setCmdToDevice(motorYOriginCMDToDevice);
         Integer motorYOriginCmdId = motorYOriginCMDToDevice.getCmdId();

src/main/java/com/qyft/ms/app/handler/impl/MotorXToHome.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;

src/main/java/com/qyft/ms/app/handler/impl/MotorYToHome.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;

src/main/java/com/qyft/ms/app/handler/impl/MotorZToHome.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;

src/main/java/com/qyft/ms/app/handler/impl/NozzlePipelinePreFill.java

@@ -10,8 +10,8 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
-import com.qyft.ms.device.handler.DeviceMessageHandler;
+import com.qyft.ms.device.core.client.TcpClient;
+import com.qyft.ms.device.core.handler.DeviceMessageHandler;
 import lombok.RequiredArgsConstructor;
 import org.springframework.http.MediaType;
 import org.springframework.scheduling.annotation.Async;
@@ -240,7 +240,7 @@ public class NozzlePipelinePreFill implements CommandHandler {
         }
 
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "移动z轴到指定位指令反馈", motorZPositionSetDownCmdToDeviceResult), MediaType.APPLICATION_JSON);
-        finished = latch.await(5, TimeUnit.SECONDS);
+        finished = latch.await(10, TimeUnit.SECONDS);
         if (!finished) {
             throw new TimeoutException("等待指令执行完成超时");
         }

src/main/java/com/qyft/ms/app/handler/impl/NozzlePipelinePreFillStop.java

@@ -10,15 +10,13 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import org.springframework.http.MediaType;
 import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
-import java.util.Map;
-
 /**
  * 喷嘴管路_停止基质预充
  */

src/main/java/com/qyft/ms/app/handler/impl/NozzlePipelineWash.java

@@ -10,15 +10,13 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import org.springframework.http.MediaType;
 import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
-import java.util.Map;
-
 /**
  * 喷嘴管路_清洗喷嘴管路
  */

src/main/java/com/qyft/ms/app/handler/impl/SlideTrayIn.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import org.springframework.http.MediaType;
 import org.springframework.scheduling.annotation.Async;

src/main/java/com/qyft/ms/app/handler/impl/SlideTrayOut.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import org.springframework.http.MediaType;
 import org.springframework.scheduling.annotation.Async;

src/main/java/com/qyft/ms/app/handler/impl/SyringePipelineWash.java

@@ -10,8 +10,8 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
-import com.qyft.ms.device.handler.DeviceMessageHandler;
+import com.qyft.ms.device.core.client.TcpClient;
+import com.qyft.ms.device.core.handler.DeviceMessageHandler;
 import lombok.RequiredArgsConstructor;
 import org.springframework.http.MediaType;
 import org.springframework.scheduling.annotation.Async;
@@ -129,7 +129,7 @@ public class SyringePipelineWash implements CommandHandler {
             }
 
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "移动z轴到指定位指令反馈", motorZPositionSetCmdToDeviceResult), MediaType.APPLICATION_JSON);
-            boolean finished = latch.await(5, TimeUnit.SECONDS);
+            boolean finished = latch.await(10, TimeUnit.SECONDS);
             if (!finished) {
                 throw new TimeoutException("等待指令执行完成超时");
             }
@@ -201,7 +201,7 @@ public class SyringePipelineWash implements CommandHandler {
         }
 
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "移动y轴到指定位置指令反馈", motorYPositionSetCMDToDeviceResult), MediaType.APPLICATION_JSON);
-        boolean finished = latch.await(5, TimeUnit.SECONDS);
+        boolean finished = latch.await(10, TimeUnit.SECONDS);
         if (!finished) {
             throw new TimeoutException("等待指令执行完成超时");
         }
@@ -241,7 +241,7 @@ public class SyringePipelineWash implements CommandHandler {
         }
 
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "移动z轴到指定位指令反馈", motorZPositionSetDownCmdToDeviceResult), MediaType.APPLICATION_JSON);
-        finished = latch.await(5, TimeUnit.SECONDS);
+        finished = latch.await(10, TimeUnit.SECONDS);
         if (!finished) {
             throw new TimeoutException("等待指令执行完成超时");
         }

src/main/java/com/qyft/ms/app/handler/impl/SyringePipelineWashStop.java

@@ -10,7 +10,7 @@ import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import org.springframework.http.MediaType;
 import org.springframework.scheduling.annotation.Async;

src/main/java/com/qyft/ms/app/handler/impl/TestDemoHandler.java

@@ -5,7 +5,7 @@ import com.qyft.ms.app.common.command.FrontCommandAck;
 import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.handler.CommandHandler;
 import com.qyft.ms.app.model.form.CMDFormV2;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;

src/main/java/com/qyft/ms/app/service/DeviceInitService.java

@@ -0,0 +1,164 @@
+//package com.qyft.ms.app.service;
+//
+//import cn.hutool.json.JSONObject;
+//import com.qyft.ms.app.common.command.CommandFuture;
+//import com.qyft.ms.app.common.command.CurrentSendCmdMapInstance;
+//import com.qyft.ms.app.common.command.DeviceCommandGenerator;
+//import com.qyft.ms.app.model.bo.CMDToDevice;
+//import com.qyft.ms.device.core.client.TcpClient;
+//import com.qyft.ms.device.device.DeviceInstance;
+//import com.qyft.ms.device.core.handler.DeviceMessageHandler;
+//import com.qyft.ms.device.model.DeviceStatusEnum;
+//import lombok.RequiredArgsConstructor;
+//import lombok.extern.slf4j.Slf4j;
+//import org.springframework.stereotype.Service;
+//
+//import java.util.concurrent.CountDownLatch;
+//import java.util.concurrent.TimeUnit;
+//
+///**
+// * 设备初始化服务
+// */
+//@Slf4j
+//@RequiredArgsConstructor
+//@Service
+//public class DeviceInitService {
+//    /**
+//     * 设备通信client
+//     */
+//    private final TcpClient deviceClient;
+//
+//    private final DeviceMessageHandler deviceMessageHandler;
+//
+//    public void init() {
+//        log.info("开始初始化设备");
+//        try {
+//            CountDownLatch latch = new CountDownLatch(1);
+//            deviceMessageHandler.setLatch(latch);
+//            originZ();
+//            boolean finished = latch.await(10, TimeUnit.SECONDS);
+//            if (!finished) {
+//                log.info("(初始化)等待指令执行完成超时");
+//                return;
+//            }
+//            latch = new CountDownLatch(2);
+//            deviceMessageHandler.setLatch(latch);
+//            originX();
+//            originZ();
+//            finished = latch.await(10, TimeUnit.SECONDS);
+//            if (!finished) {
+//                log.info("(初始化)等待指令执行完成超时");
+//                return;
+//            }
+//        } catch (Exception e) {
+//            log.error("设备初始化异常", e);
+//        } finally {
+//            DeviceInstance.getInstance().setDeviceStatus(DeviceStatusEnum.FREE);
+//        }
+//        log.info("初始化设备完成");
+//    }
+//
+//    private void originZ() {
+//        CMDToDevice motorZOriginCMDToDevice = DeviceCommandGenerator.motor_z_origin(); // 生成 z轴回原点指令
+//        CommandFuture motorZOriginCMDToDeviceFuture = new CommandFuture();
+//        motorZOriginCMDToDeviceFuture.setCmdToDevice(motorZOriginCMDToDevice);
+//        Integer motorZOriginCmdId = motorZOriginCMDToDevice.getCmdId();
+//        CurrentSendCmdMapInstance.getInstance().putCommand(motorZOriginCmdId, motorZOriginCMDToDeviceFuture); // 将指令放入map
+//
+//        deviceClient.sendToJSON(motorZOriginCMDToDevice); // 发送指令给设备
+//        log.info("(初始化)已向设备发送了z轴回原点指令:{}", motorZOriginCMDToDevice);
+//
+//        motorZOriginCMDToDeviceFuture.waitForContinue(); // 等待设备反馈
+//        JSONObject motorZOriginResult = motorZOriginCMDToDeviceFuture.getCallbackResult(); // 获取设备返回结果
+//        CurrentSendCmdMapInstance.getInstance().removeCommand(motorZOriginCmdId); // 从map中删除该指令
+//
+//        if (!motorZOriginCMDToDeviceFuture.isReceived()) {
+//            log.info("(初始化)z轴回原点指令响应超时:{}", motorZOriginResult);
+//            throw new RuntimeException();
+//        }
+//
+//        if (motorZOriginResult.getJSONObject("error") != null) {
+//            log.info("(初始化)z轴回原点指令返回错误:{}", motorZOriginResult);
+//            throw new RuntimeException();
+//        }
+//
+//        Object motorZOriginStatus = motorZOriginResult.getObj("result");
+//        if (motorZOriginStatus instanceof Boolean) {
+//            if (!(Boolean) motorZOriginStatus) {
+//                log.info("(初始化)z轴回原点指令执行失败:{}", motorZOriginResult);
+//                throw new RuntimeException();
+//            }
+//        }
+//        log.info("(初始化)z轴已回到原点:{}", motorZOriginResult);
+//    }
+//
+//    private void originX() {
+//        CMDToDevice motorXOriginCMDToDevice = DeviceCommandGenerator.motor_x_origin(); // 生成 x轴回原点指令
+//        CommandFuture motorXOriginCMDToDeviceFuture = new CommandFuture();
+//        motorXOriginCMDToDeviceFuture.setCmdToDevice(motorXOriginCMDToDevice);
+//        Integer motorXOriginCmdId = motorXOriginCMDToDevice.getCmdId();
+//        CurrentSendCmdMapInstance.getInstance().putCommand(motorXOriginCmdId, motorXOriginCMDToDeviceFuture); // 将指令放入map
+//
+//        deviceClient.sendToJSON(motorXOriginCMDToDevice); // 发送指令给设备
+//        log.info("(初始化)已向设备发送了x轴回原点指令:{}", motorXOriginCMDToDevice);
+//
+//        motorXOriginCMDToDeviceFuture.waitForContinue(); // 等待设备反馈
+//        JSONObject motorXOriginResult = motorXOriginCMDToDeviceFuture.getCallbackResult(); // 获取设备返回结果
+//        CurrentSendCmdMapInstance.getInstance().removeCommand(motorXOriginCmdId); // 从map中删除该指令
+//
+//        if (!motorXOriginCMDToDeviceFuture.isReceived()) {
+//            log.info("(初始化)x轴回原点指令响应超时:{}", motorXOriginResult);
+//            throw new RuntimeException();
+//        }
+//
+//        if (motorXOriginResult.getJSONObject("error") != null) {
+//            log.info("(初始化)x轴回原点指令返回错误:{}", motorXOriginResult);
+//            throw new RuntimeException();
+//        }
+//
+//        Object motorXOriginStatus = motorXOriginResult.getObj("result");
+//        if (motorXOriginStatus instanceof Boolean) {
+//            if (!(Boolean) motorXOriginStatus) {
+//                log.info("(初始化)x轴回原点指令执行失败:{}", motorXOriginResult);
+//                throw new RuntimeException();
+//            }
+//        }
+//        log.info("(初始化)x轴已回到原点:{}", motorXOriginResult);
+//    }
+//
+//    private void originY() {
+//        CMDToDevice motorYOriginCMDToDevice = DeviceCommandGenerator.motor_y_origin(); // 生成 y轴回原点指令
+//        CommandFuture motorYOriginCMDToDeviceFuture = new CommandFuture();
+//        motorYOriginCMDToDeviceFuture.setCmdToDevice(motorYOriginCMDToDevice);
+//        Integer motorYOriginCmdId = motorYOriginCMDToDevice.getCmdId();
+//        CurrentSendCmdMapInstance.getInstance().putCommand(motorYOriginCmdId, motorYOriginCMDToDeviceFuture); // 将指令放入map
+//
+//        deviceClient.sendToJSON(motorYOriginCMDToDevice); // 发送指令给设备
+//        log.info("(初始化)已向设备发送了y轴回原点指令:{}", motorYOriginCMDToDevice);
+//
+//        motorYOriginCMDToDeviceFuture.waitForContinue(); // 等待设备反馈
+//        JSONObject motorYOriginResult = motorYOriginCMDToDeviceFuture.getCallbackResult(); // 获取设备返回结果
+//        CurrentSendCmdMapInstance.getInstance().removeCommand(motorYOriginCmdId); // 从map中删除该指令
+//
+//        if (!motorYOriginCMDToDeviceFuture.isReceived()) {
+//            log.info("(初始化)y轴回原点指令响应超时:{}", motorYOriginResult);
+//            throw new RuntimeException();
+//        }
+//
+//        if (motorYOriginResult.getJSONObject("error") != null) {
+//            log.info("(初始化)y轴回原点指令返回错误:{}", motorYOriginResult);
+//            throw new RuntimeException();
+//        }
+//
+//        Object motorYOriginStatus = motorYOriginResult.getObj("result");
+//        if (motorYOriginStatus instanceof Boolean) {
+//            if (!(Boolean) motorYOriginStatus) {
+//                log.info("(初始化)y轴回原点指令执行失败:{}", motorYOriginResult);
+//                throw new RuntimeException();
+//            }
+//        }
+//        log.info("(初始化)y轴已回到原点:{}", motorYOriginResult);
+//    }
+//
+//
+//}

src/main/java/com/qyft/ms/device/client/TcpClient.java → src/main/java/com/qyft/ms/device/core/client/TcpClient.java

@@ -1,9 +1,16 @@
-package com.qyft.ms.device.client;
+package com.qyft.ms.device.core.client;
 
+import cn.hutool.json.JSONObject;
 import cn.hutool.json.JSONUtil;
+import com.qyft.ms.app.common.command.CommandFuture;
+import com.qyft.ms.app.common.command.CurrentSendCmdMapInstance;
+import com.qyft.ms.app.common.command.DeviceCommandGenerator;
+import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.device.common.jsonrpc.JsonRpcRequest;
 import com.qyft.ms.device.config.TcpConfig;
-import com.qyft.ms.device.handler.DeviceMessageHandler;
+import com.qyft.ms.device.core.handler.DeviceMessageHandler;
+import com.qyft.ms.device.device.DeviceInstance;
+import com.qyft.ms.device.model.DeviceStatusEnum;
 import com.qyft.ms.device.model.bo.DeviceFeedback;
 import io.netty.bootstrap.Bootstrap;
 import io.netty.buffer.Unpooled;
@@ -23,6 +30,7 @@ import java.util.HashMap;
 import java.util.Map;
 import java.util.UUID;
 import java.util.concurrent.CompletableFuture;
+import java.util.concurrent.CountDownLatch;
 import java.util.concurrent.TimeUnit;
 
 @Slf4j
@@ -31,7 +39,6 @@ import java.util.concurrent.TimeUnit;
 public class TcpClient {
 
     private final TcpConfig tcpConfig;
-
     private final DeviceMessageHandler deviceMessageHandler;
 
     private final EventLoopGroup group = new NioEventLoopGroup();
@@ -78,6 +85,7 @@ public class TcpClient {
                     // 连接成功，记录日志并设置channel
                     channel = f.channel();
                     log.info("已链接到TCP服务");
+                    new Thread(this::initDevice).start();
                 } else {
                     // 连接失败，记录日志并安排重试
                     log.error("无法连接到TCP服务. {}ms后重试...", tcpConfig.getReconnect());
@@ -196,4 +204,137 @@ public class TcpClient {
             ctx.close();
         }
     }
+
+
+    public void initDevice() {
+        log.info("开始初始化设备");
+        try {
+            CountDownLatch latch = new CountDownLatch(1);
+            deviceMessageHandler.setLatch(latch);
+            originZ();
+            boolean finished = latch.await(10, TimeUnit.SECONDS);
+            if (!finished) {
+                log.info("(初始化)等待指令执行完成超时");
+                return;
+            }
+            latch = new CountDownLatch(2);
+            deviceMessageHandler.setLatch(latch);
+            originX();
+            originZ();
+            finished = latch.await(10, TimeUnit.SECONDS);
+            if (!finished) {
+                log.info("(初始化)等待指令执行完成超时");
+                return;
+            }
+        } catch (Exception e) {
+            log.error("设备初始化异常", e);
+        } finally {
+            DeviceInstance.getInstance().setDeviceStatus(DeviceStatusEnum.FREE);
+        }
+        log.info("初始化设备完成");
+    }
+
+    private void originZ() {
+        CMDToDevice motorZOriginCMDToDevice = DeviceCommandGenerator.motor_z_origin(); // 生成 z轴回原点指令
+        CommandFuture motorZOriginCMDToDeviceFuture = new CommandFuture();
+        motorZOriginCMDToDeviceFuture.setCmdToDevice(motorZOriginCMDToDevice);
+        Integer motorZOriginCmdId = motorZOriginCMDToDevice.getCmdId();
+        CurrentSendCmdMapInstance.getInstance().putCommand(motorZOriginCmdId, motorZOriginCMDToDeviceFuture); // 将指令放入map
+
+        sendToJSON(motorZOriginCMDToDevice); // 发送指令给设备
+        log.info("(初始化)已向设备发送了z轴回原点指令:{}", motorZOriginCMDToDevice);
+
+        motorZOriginCMDToDeviceFuture.waitForContinue(); // 等待设备反馈
+        JSONObject motorZOriginResult = motorZOriginCMDToDeviceFuture.getCallbackResult(); // 获取设备返回结果
+        CurrentSendCmdMapInstance.getInstance().removeCommand(motorZOriginCmdId); // 从map中删除该指令
+
+        if (!motorZOriginCMDToDeviceFuture.isReceived()) {
+            log.info("(初始化)z轴回原点指令响应超时:{}", motorZOriginResult);
+            throw new RuntimeException();
+        }
+
+        if (motorZOriginResult.getJSONObject("error") != null) {
+            log.info("(初始化)z轴回原点指令返回错误:{}", motorZOriginResult);
+            throw new RuntimeException();
+        }
+
+        Object motorZOriginStatus = motorZOriginResult.getObj("result");
+        if (motorZOriginStatus instanceof Boolean) {
+            if (!(Boolean) motorZOriginStatus) {
+                log.info("(初始化)z轴回原点指令执行失败:{}", motorZOriginResult);
+                throw new RuntimeException();
+            }
+        }
+        log.info("(初始化)z轴已回到原点:{}", motorZOriginResult);
+    }
+
+    private void originX() {
+        CMDToDevice motorXOriginCMDToDevice = DeviceCommandGenerator.motor_x_origin(); // 生成 x轴回原点指令
+        CommandFuture motorXOriginCMDToDeviceFuture = new CommandFuture();
+        motorXOriginCMDToDeviceFuture.setCmdToDevice(motorXOriginCMDToDevice);
+        Integer motorXOriginCmdId = motorXOriginCMDToDevice.getCmdId();
+        CurrentSendCmdMapInstance.getInstance().putCommand(motorXOriginCmdId, motorXOriginCMDToDeviceFuture); // 将指令放入map
+
+        sendToJSON(motorXOriginCMDToDevice); // 发送指令给设备
+        log.info("(初始化)已向设备发送了x轴回原点指令:{}", motorXOriginCMDToDevice);
+
+        motorXOriginCMDToDeviceFuture.waitForContinue(); // 等待设备反馈
+        JSONObject motorXOriginResult = motorXOriginCMDToDeviceFuture.getCallbackResult(); // 获取设备返回结果
+        CurrentSendCmdMapInstance.getInstance().removeCommand(motorXOriginCmdId); // 从map中删除该指令
+
+        if (!motorXOriginCMDToDeviceFuture.isReceived()) {
+            log.info("(初始化)x轴回原点指令响应超时:{}", motorXOriginResult);
+            throw new RuntimeException();
+        }
+
+        if (motorXOriginResult.getJSONObject("error") != null) {
+            log.info("(初始化)x轴回原点指令返回错误:{}", motorXOriginResult);
+            throw new RuntimeException();
+        }
+
+        Object motorXOriginStatus = motorXOriginResult.getObj("result");
+        if (motorXOriginStatus instanceof Boolean) {
+            if (!(Boolean) motorXOriginStatus) {
+                log.info("(初始化)x轴回原点指令执行失败:{}", motorXOriginResult);
+                throw new RuntimeException();
+            }
+        }
+        log.info("(初始化)x轴已回到原点:{}", motorXOriginResult);
+    }
+
+    private void originY() {
+        CMDToDevice motorYOriginCMDToDevice = DeviceCommandGenerator.motor_y_origin(); // 生成 y轴回原点指令
+        CommandFuture motorYOriginCMDToDeviceFuture = new CommandFuture();
+        motorYOriginCMDToDeviceFuture.setCmdToDevice(motorYOriginCMDToDevice);
+        Integer motorYOriginCmdId = motorYOriginCMDToDevice.getCmdId();
+        CurrentSendCmdMapInstance.getInstance().putCommand(motorYOriginCmdId, motorYOriginCMDToDeviceFuture); // 将指令放入map
+
+        sendToJSON(motorYOriginCMDToDevice); // 发送指令给设备
+        log.info("(初始化)已向设备发送了y轴回原点指令:{}", motorYOriginCMDToDevice);
+
+        motorYOriginCMDToDeviceFuture.waitForContinue(); // 等待设备反馈
+        JSONObject motorYOriginResult = motorYOriginCMDToDeviceFuture.getCallbackResult(); // 获取设备返回结果
+        CurrentSendCmdMapInstance.getInstance().removeCommand(motorYOriginCmdId); // 从map中删除该指令
+
+        if (!motorYOriginCMDToDeviceFuture.isReceived()) {
+            log.info("(初始化)y轴回原点指令响应超时:{}", motorYOriginResult);
+            throw new RuntimeException();
+        }
+
+        if (motorYOriginResult.getJSONObject("error") != null) {
+            log.info("(初始化)y轴回原点指令返回错误:{}", motorYOriginResult);
+            throw new RuntimeException();
+        }
+
+        Object motorYOriginStatus = motorYOriginResult.getObj("result");
+        if (motorYOriginStatus instanceof Boolean) {
+            if (!(Boolean) motorYOriginStatus) {
+                log.info("(初始化)y轴回原点指令执行失败:{}", motorYOriginResult);
+                throw new RuntimeException();
+            }
+        }
+        log.info("(初始化)y轴已回到原点:{}", motorYOriginResult);
+    }
+
+
 }

src/main/java/com/qyft/ms/device/handler/DeviceMessageHandler.java → src/main/java/com/qyft/ms/device/core/handler/DeviceMessageHandler.java

@@ -1,4 +1,4 @@
-package com.qyft.ms.device.handler;
+package com.qyft.ms.device.core.handler;
 
 import cn.hutool.json.JSONObject;
 import cn.hutool.json.JSONUtil;
@@ -13,13 +13,11 @@ import io.netty.channel.ChannelHandler;
 import io.netty.channel.ChannelHandlerContext;
 import io.netty.channel.ChannelInboundHandlerAdapter;
 import io.netty.util.CharsetUtil;
-import jakarta.annotation.PostConstruct;
 import lombok.RequiredArgsConstructor;
 import lombok.Setter;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
-import java.util.Iterator;
 import java.util.Map;
 import java.util.concurrent.CompletableFuture;
 import java.util.concurrent.ConcurrentHashMap;

src/main/java/com/qyft/ms/device/device/DeviceInstance.java

@@ -33,7 +33,7 @@ public class DeviceInstance {
     //嵌入式版本
     private String microVersion;
     //设备状态
-    private DeviceStatusEnum deviceStatus;
+    private DeviceStatusEnum deviceStatus = DeviceStatusEnum.UNKNOWN;
 
     //喷涂状态
     private MatrixSprayStatusEnum matrixSprayStatusEnum;
@@ -46,7 +46,7 @@ public class DeviceInstance {
     private MotorZ motorZ;
 
 
-    private  ConcurrentHashMap<Integer, Long> receivedCommands = new ConcurrentHashMap<>();
+    private ConcurrentHashMap<Integer, Long> receivedCommands = new ConcurrentHashMap<>();
 
 
     private void updateMotorPosition(MotorNameEnum motorName, Double position) {
@@ -58,7 +58,10 @@ public class DeviceInstance {
             motorZ.setPosition(position);
         }
 
-    };
+    }
+
+    ;
+
     private void updateMotorOrigin(MotorNameEnum motorName, Boolean isOrigin) {
         if (motorName == MotorNameEnum.X) {
             motorX.setIsOrigin(isOrigin);
@@ -67,5 +70,7 @@ public class DeviceInstance {
         } else if (motorName == MotorNameEnum.Z) {
             motorZ.setIsOrigin(isOrigin);
         }
-    };
+    }
+
+    ;
 }

src/main/java/com/qyft/ms/device/service/DeviceTcpCMDService.java

@@ -1,7 +1,7 @@
 package com.qyft.ms.device.service;
 
 import cn.hutool.json.JSONUtil;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import com.qyft.ms.device.common.constant.DeviceCommands;
 import com.qyft.ms.device.common.jsonrpc.JsonRpcRequest;
 import com.qyft.ms.device.model.bo.DeviceFeedback;

src/main/java/com/qyft/ms/device/service/DeviceTcpCMDServiceV2.java

@@ -1,7 +1,7 @@
 package com.qyft.ms.device.service;
 
 import cn.hutool.json.JSONUtil;
-import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.core.client.TcpClient;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;

src/main/resources/application.yml

@@ -16,7 +16,7 @@ spring:
 mybatis-plus:
   configuration:
     # 开启 SQL 日志输出（可选）
-    log-impl: org.apache.ibatis.logging.stdout.StdOutImpl
+#    log-impl: org.apache.ibatis.logging.stdout.StdOutImpl
     # 如果需要加载 XML 文件（自定义 SQL），可配置 mapper-locations：
     mapper-locations: classpath*:mapper/*.xml