Merge remote-tracking branch 'origin/master'

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

@@ -138,7 +138,7 @@ public class DeviceCommandGenerator {
      *
      * @param power 功率[0-100]
      */
-    public static CMDToDevice laser_control_open(Integer power) {
+    public static CMDToDevice laser_control_open(Double power) {
         return laser_control("open", power);
     }
 
@@ -147,7 +147,7 @@ public class DeviceCommandGenerator {
      *
      * @param power 功率[0-100]
      */
-    public static CMDToDevice laser_control(String action, Integer power) {
+    public static CMDToDevice laser_control(String action, Double power) {
         Map<String, Object> params = new HashMap<>();
         params.put("power", power);
         return controlCmd("laser", action, params);
@@ -450,7 +450,7 @@ public class DeviceCommandGenerator {
      * 获取信息指令
      */
     public static CMDToDevice getInfoCmd(String device) {
-        return deviceCmd("controlCmd", device, "get", null);
+        return deviceCmd("getInfoCmd", device, "get", null);
     }
 
     /**

src/main/java/com/qyft/ms/app/handler/CMDResend.java

@@ -0,0 +1,55 @@
+package com.qyft.ms.app.handler;
+
+import com.qyft.ms.device.device.DeviceInstance;
+import io.netty.channel.ChannelHandler;
+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.*;
+
+@Slf4j
+@Component
+@RequiredArgsConstructor
+public class CMDResend {
+
+    @Setter
+    private volatile CountDownLatch latch;
+
+    private static final long CLEANUP_INTERVAL = 2000; // 5 秒清理一次
+    private static final long DUPLICATE_CHECK_INTERVAL = 300;//ms
+
+    @PostConstruct
+    public void init() {
+        ScheduledExecutorService executorService = Executors.newSingleThreadScheduledExecutor();
+        executorService.scheduleAtFixedRate(() -> {
+            try {
+                cleanupOldCommands();
+            } catch (Exception e) {
+                if (!executorService.isShutdown()) {
+                    executorService.shutdown(); // 关闭 ScheduledExecutorService
+                }
+                log.error("定时器异常", e);
+            }
+        }, CLEANUP_INTERVAL, 100, TimeUnit.MILLISECONDS);
+    }
+
+
+    private static void cleanupOldCommands() {
+
+        Map<Integer, Long> receivedCommands = DeviceInstance.getInstance().getReceivedCommands();
+        long currentTime = System.currentTimeMillis();
+        Iterator<Map.Entry<Integer, Long>> iterator = receivedCommands.entrySet().iterator();
+        while (iterator.hasNext()) {
+            Map.Entry<Integer, Long> entry = iterator.next();
+            if (currentTime - entry.getValue() > DUPLICATE_CHECK_INTERVAL) {
+                iterator.remove();
+            }
+        }
+//        System.out.println("清理完成，当前记录数量: " + receivedCommands.size());
+    }
+}

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

@@ -37,7 +37,6 @@ public class DehumidifierValveClose implements CommandHandler {
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RECEIVE, "后台已收到指令"), MediaType.APPLICATION_JSON);
 
 
-
         CMDToDevice cmdToDevice = DeviceCommandGenerator.dehumidifier_valve_close();// 关闭除湿阀
         CommandFuture cmdToDeviceFuture = new CommandFuture();
         cmdToDeviceFuture.setCmdToDevice(cmdToDevice);
@@ -58,11 +57,13 @@ public class DehumidifierValveClose implements CommandHandler {
             emitter.complete();
             return;
         }
-        Boolean cmdStatus = deviceResult.getBool("result");
-        if (!cmdStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭除湿阀指令执行失败", deviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
+        Object resultStatus = deviceResult.getObj("result");
+        if (resultStatus instanceof Boolean) {
+            if (!(Boolean) resultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭除湿阀指令执行失败", deviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
         }
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "关闭除湿阀指令反馈", deviceResult), MediaType.APPLICATION_JSON);
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "指令执行完毕"), MediaType.APPLICATION_JSON);

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

@@ -56,11 +56,13 @@ public class DehumidifierValveOpen implements CommandHandler {
             emitter.complete();
             return;
         }
-        Boolean dehumidifierValveStatus = dehumidifierValveResult.getBool("result");
-        if (!dehumidifierValveStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "开启除湿阀指令执行失败", dehumidifierValveResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
+        Object resultStatus = dehumidifierValveResult.getObj("result");
+        if (resultStatus instanceof Boolean) {
+            if (!(Boolean) resultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "开启除湿阀指令执行失败", dehumidifierValveResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
         }
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "开启除湿阀指令反馈", dehumidifierValveResult), MediaType.APPLICATION_JSON);
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "指令执行完毕"), MediaType.APPLICATION_JSON);

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

@@ -48,7 +48,6 @@ public class HighVoltageClose implements CommandHandler {
          */
 
 
-
         /**
          * 3.生成指令，并发送指令
          */
@@ -82,10 +81,12 @@ public class HighVoltageClose implements CommandHandler {
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭高压指令返回错误", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
             emitter.complete();
         }
-        Boolean nozzleValveCloseCMDToDeviceResultStatus = laser_control_open_CMDToDeviceResult.getBool("result");
-        if (!nozzleValveCloseCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭高压指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
+        Object resultStatus = laser_control_open_CMDToDeviceResult.getObj("result");
+        if (resultStatus instanceof Boolean) {
+            if (!(Boolean) resultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭高压指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+            }
         }
 
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "关闭高压指令指令反馈", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);

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

@@ -18,7 +18,6 @@ import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
-import java.nio.DoubleBuffer;
 import java.util.Map;
 
 /**
@@ -49,7 +48,6 @@ public class HighVoltageOpen implements CommandHandler {
          */
 
 
-
         /**
          * 3.生成指令，并发送指令
          */
@@ -83,10 +81,12 @@ public class HighVoltageOpen implements CommandHandler {
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开高压指令返回错误", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
             emitter.complete();
         }
-        Boolean nozzleValveCloseCMDToDeviceResultStatus = laser_control_open_CMDToDeviceResult.getBool("result");
-        if (!nozzleValveCloseCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开高压指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
+        Object resultStatus = laser_control_open_CMDToDeviceResult.getObj("result");
+        if (resultStatus instanceof Boolean) {
+            if (!(Boolean) resultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开高压指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+            }
         }
 
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "打开高压指令指令反馈", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);

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

@@ -18,8 +18,6 @@ import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
-import java.util.Map;
-
 /**
  * z轴回原点
  */
@@ -73,10 +71,12 @@ public class LaserControlClose implements CommandHandler {
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭激光指令返回错误", nozzleValveCloseCMDToDeviceResult), MediaType.APPLICATION_JSON);
             emitter.complete();
         }
-        Boolean nozzleValveCloseCMDToDeviceResultStatus = nozzleValveCloseCMDToDeviceResult.getBool("result");
-        if (!nozzleValveCloseCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭激光指令执行失败", nozzleValveCloseCMDToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
+        Object resultStatus = nozzleValveCloseCMDToDeviceResult.getObj("result");
+        if (resultStatus instanceof Boolean) {
+            if (!(Boolean) resultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭激光指令执行失败", nozzleValveCloseCMDToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+            }
         }
 
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "关闭激光指令指令反馈", nozzleValveCloseCMDToDeviceResult), MediaType.APPLICATION_JSON);

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

@@ -37,7 +37,7 @@ public class LaserControlOpen implements CommandHandler {
         String frontCmdName = cmdForm.getCmdName();
         Map<String, Object> param = cmdForm.getParam();
 
-        Integer power = (Integer) param.get("power");
+        Double power = (Double) param.get("power");
 
         /**
          * 1.向前端发送接收到指令
@@ -48,7 +48,6 @@ public class LaserControlOpen implements CommandHandler {
          */
 
 
-
         /**
          * 3.生成指令，并发送指令
          */
@@ -82,10 +81,12 @@ public class LaserControlOpen implements CommandHandler {
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开激光指令返回错误", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
             emitter.complete();
         }
-        Boolean nozzleValveCloseCMDToDeviceResultStatus = laser_control_open_CMDToDeviceResult.getBool("result");
-        if (!nozzleValveCloseCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开激光指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
+        Object resultStatus = laser_control_open_CMDToDeviceResult.getObj("result");
+        if (resultStatus instanceof Boolean) {
+            if (!(Boolean) resultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开激光指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+            }
         }
 
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "打开激光指令指令反馈", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);

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

@@ -70,11 +70,12 @@ public class LightingPanelClose implements CommandHandler {
             emitter.complete();
 
         }
-        Boolean nozzleValveOpenCMDToDeviceResultStatus = lightingPanelOpenCMDToDeviceResult.getBool("result");
-        if (!nozzleValveOpenCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭照明灯指令执行失败", lightingPanelOpenCMDToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-
+        Object resultStatus = lightingPanelOpenCMDToDeviceResult.getObj("result");
+        if (resultStatus instanceof Boolean) {
+            if (!(Boolean) resultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭照明灯指令执行失败", lightingPanelOpenCMDToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+            }
         }
 
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "关闭照明灯指令反馈", lightingPanelOpenCMDToDeviceResult), MediaType.APPLICATION_JSON);

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

@@ -37,9 +37,6 @@ public class LightingPanelOpen implements CommandHandler {
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RECEIVE, "后台已收到指令"), MediaType.APPLICATION_JSON);
 
 
-
-
-
         CMDToDevice lightingPanelOpenCMDToDevice = DeviceCommandGenerator.lighting_panel_open();//生成指令 开启喷嘴阀
         CommandFuture lightingPanelCMDToDeviceFuture = new CommandFuture();
         lightingPanelCMDToDeviceFuture.setCmdToDevice(lightingPanelOpenCMDToDevice);
@@ -66,11 +63,13 @@ public class LightingPanelOpen implements CommandHandler {
             emitter.complete();
 
         }
-        Boolean nozzleValveOpenCMDToDeviceResultStatus = lightingPanelOpenCMDToDeviceResult.getBool("result");
-        if (!nozzleValveOpenCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "开启照明灯指令执行失败", lightingPanelOpenCMDToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
+        Object resultStatus = lightingPanelOpenCMDToDeviceResult.getObj("result");
+        if (resultStatus instanceof Boolean) {
+            if (!(Boolean) resultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "开启照明灯指令执行失败", lightingPanelOpenCMDToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
 
+            }
         }
 
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "开启照明灯指令反馈", lightingPanelOpenCMDToDeviceResult), MediaType.APPLICATION_JSON);

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

@@ -19,6 +19,7 @@ import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
 import java.util.Map;
+import java.util.Optional;
 
 /**
  * z轴回原点
@@ -27,23 +28,24 @@ import java.util.Map;
 @Component
 @RequiredArgsConstructor
 @Async("asyncExecutor")
-@CommandMapping("motor_x_move")//业务指令注解
+@CommandMapping("motor_x_to_position")//业务指令注解
 public class MotorXMove implements CommandHandler {
     private final TcpClient deviceClient;
 
     /**
      * {
-     *  cmdName:'motor_x_move',
-     *  cmdId:'',
-     *  device:'x',
-     *   action:'move',
-     *   param:{
-     *     current:'',//这四个参数可以不同时存在
-     *     direction:'forward|backward',
-     *     position:'',
-     *     speed:''
-     *   }
+     * cmdName:'motor_x_move',
+     * cmdId:'',
+     * device:'x',
+     * action:'move',
+     * param:{
+     * current:'',//这四个参数可以不同时存在
+     * direction:'forward|backward',
+     * position:'',
+     * speed:''
      * }
+     * }
+     *
      * @param cmdForm
      * @param emitter
      * @throws Exception
@@ -53,7 +55,15 @@ public class MotorXMove implements CommandHandler {
         String frontCmdId = cmdForm.getCmdId();
         String frontCmdName = cmdForm.getCmdName();
         Map<String, Object> param = cmdForm.getParam();
-        Double position = (Double) param.get("position");
+        Double position = Optional.ofNullable(param.get("position"))
+                .map(Object::toString)
+                .map(Double::parseDouble)
+                .orElse(null);
+        Double speed = Optional.ofNullable(param.get("speed"))
+                .map(Object::toString)
+                .map(Double::parseDouble)
+                .orElse(null);
+
         String direction = (String) param.get("direction");
 
 
@@ -67,19 +77,39 @@ public class MotorXMove implements CommandHandler {
          * 2.获取电机X的位置
          */
 
-        CMDToDevice cmdToDevice = DeviceCommandGenerator.motor_xyz_position_get();//关闭喷嘴阀
+        CMDToDevice cmdToDevice = DeviceCommandGenerator.motor_xyz_position_get();//获得电机XYZ相对原点坐标
         CommandFuture cmdToDeviceFuture = new CommandFuture();
         cmdToDeviceFuture.setCmdToDevice(cmdToDevice);
-        Integer cmdToDeviceCmdId = cmdToDevice.getCmdId();
-        CurrentSendCmdMapInstance.getInstance().putCommand(cmdToDeviceCmdId, cmdToDeviceFuture); // 将指令放入map
+        Integer cmdId = cmdToDevice.getCmdId();
+        CurrentSendCmdMapInstance.getInstance().putCommand(cmdId, cmdToDeviceFuture); // 将指令放入map
         deviceClient.sendToJSON(cmdToDevice); // 发送指令给设备
+        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了获得电机XYZ相对原点坐标指令", cmdToDevice), MediaType.APPLICATION_JSON);
 
-        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了XYZ获取位置指令", cmdToDevice), MediaType.APPLICATION_JSON);
+        cmdToDeviceFuture.waitForContinue(); // 等待设备反馈
+        JSONObject deviceResult = cmdToDeviceFuture.getCallbackResult(); // 获取设备返回结果
+        CurrentSendCmdMapInstance.getInstance().removeCommand(cmdId); // 从map中删除该指令
 
-        /**
-         * 3.等待
-         */
-        cmdToDeviceFuture.waitForContinue(); // 等待设备的反馈
+        if (!cmdToDeviceFuture.isReceived()) {
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "获得电机XYZ相对原点坐标指令响应超时", deviceResult), MediaType.APPLICATION_JSON);
+            emitter.complete();
+            return;
+        }
+
+        if (deviceResult.getJSONObject("error") != null) {
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "获得电机XYZ相对原点坐标指令返回错误", deviceResult), MediaType.APPLICATION_JSON);
+            emitter.complete();
+            return;
+        }
+
+        Object resultStatus = deviceResult.getObj("result");
+        if (resultStatus instanceof Boolean) {
+            if (!(Boolean) resultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "获得电机XYZ相对原点坐标指令执行失败", deviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
+        }
+        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "获得电机XYZ相对原点坐标指令反馈", deviceResult), MediaType.APPLICATION_JSON);
 
         /**
          * "{
@@ -100,23 +130,20 @@ public class MotorXMove implements CommandHandler {
         /**
          * 4.处理电机位置结果
          */
-        JSONObject resultObject = cmdToDeviceFuture.getCallbackResult(); // 拿到设备返回结果
-        CurrentSendCmdMapInstance.getInstance().removeCommand(cmdToDeviceCmdId); // 从map中删除该指令
 
-
-        JSONObject cmdToDeviceResult = resultObject.getJSONObject("result");
+        JSONObject cmdToDeviceResult = deviceResult.getJSONObject("result");
         Double xAxisPosition = cmdToDeviceResult.getDouble("xAxisPosition");
 
         Double finalPosition = 0.0;
 
 
-        if("forward".equals(direction)){
-            finalPosition+=xAxisPosition+position;
+        if ("forward".equals(direction)) {
+            finalPosition = xAxisPosition + position;
         }
-        if("backward".equals(direction)){
-            finalPosition-=xAxisPosition-position;
+        if ("backward".equals(direction)) {
+            finalPosition = xAxisPosition - position;
 
-            if(finalPosition<0){
+            if (finalPosition < 0) {
                 finalPosition = 0.0;
             }
         }
@@ -126,7 +153,7 @@ public class MotorXMove implements CommandHandler {
          * 5.生成电机移动指令，并发送指令
          */
 
-        cmdToDevice = DeviceCommandGenerator.motor_x_position_set(finalPosition);//关闭喷嘴阀
+        cmdToDevice = DeviceCommandGenerator.motor_x_position_set(finalPosition, speed);//移动x轴到指定位置
         cmdToDeviceFuture = new CommandFuture();
         cmdToDeviceFuture.setCmdToDevice(cmdToDevice);
         Integer nozzleValveCloseCMDToDeviceCmdId = cmdToDevice.getCmdId();
@@ -155,10 +182,13 @@ public class MotorXMove implements CommandHandler {
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "X移动指令返回错误", cmdToDeviceResult), MediaType.APPLICATION_JSON);
             emitter.complete();
         }
-        Boolean nozzleValveCloseCMDToDeviceResultStatus = cmdToDeviceResult.getBool("result");
-        if (!nozzleValveCloseCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "X移动指令执行失败", cmdToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
+
+        Object nozzleValveCloseCMDToDeviceResultStatus = deviceResult.getObj("result");
+        if (nozzleValveCloseCMDToDeviceResultStatus instanceof Boolean) {
+            if (!(Boolean) nozzleValveCloseCMDToDeviceResultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "X移动指令执行失败", cmdToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+            }
         }
 
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "X移动指令反馈", cmdToDeviceResult), MediaType.APPLICATION_JSON);

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

@@ -68,17 +68,21 @@ public class MotorXOrigin implements CommandHandler {
         if (!cmdToDeviceFuture.isReceived()) {
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "X回原点指令响应超时", cmdToDeviceResult), MediaType.APPLICATION_JSON);
             emitter.complete();
+            return;
         }
         if (cmdToDeviceResult.getJSONObject("error") != null) {
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "X回原点指令返回错误", cmdToDeviceResult), MediaType.APPLICATION_JSON);
             emitter.complete();
+            return;
         }
-        Boolean nozzleValveCloseCMDToDeviceResultStatus = cmdToDeviceResult.getBool("result");
-        if (!nozzleValveCloseCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "X回原点指令执行失败", cmdToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
+        Object resultStatus = cmdToDeviceResult.getObj("result");
+        if (resultStatus instanceof Boolean) {
+            if (!(Boolean) resultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "X回原点指令执行失败", cmdToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
         }
-
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "X回原点指令指令反馈", cmdToDeviceResult), MediaType.APPLICATION_JSON);
         emitter.complete();
     }

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

@@ -73,10 +73,12 @@ public class MotorXStop implements CommandHandler {
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "X停止指令返回错误", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
             emitter.complete();
         }
-        Boolean nozzleValveCloseCMDToDeviceResultStatus = laser_control_open_CMDToDeviceResult.getBool("result");
-        if (!nozzleValveCloseCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "X停止指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
+        Object resultStatus = laser_control_open_CMDToDeviceResult.getObj("result");
+        if (resultStatus instanceof Boolean) {
+            if (!(Boolean) resultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "X停止指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+            }
         }
 
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "X停止指令指令反馈", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);

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

@@ -73,10 +73,12 @@ public class MotorXYZPositionGet implements CommandHandler {
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "XYZ获取位置指令返回错误", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
             emitter.complete();
         }
-        Boolean cmdToDeviceResultStatus = laser_control_open_CMDToDeviceResult.getBool("result");
-        if (!cmdToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "XYZ获取位置指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
+        Object resultStatus = laser_control_open_CMDToDeviceResult.getObj("result");
+        if (resultStatus instanceof Boolean) {
+            if (!(Boolean) resultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "XYZ获取位置指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+            }
         }
 
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "XYZ获取位置指令指令反馈", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);

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

@@ -19,6 +19,7 @@ import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
 import java.util.Map;
+import java.util.Optional;
 
 /**
  * z轴回原点
@@ -27,23 +28,24 @@ import java.util.Map;
 @Component
 @RequiredArgsConstructor
 @Async("asyncExecutor")
-@CommandMapping("motor_x_move")//业务指令注解
+@CommandMapping("motor_y_to_position")//业务指令注解
 public class MotorYMove implements CommandHandler {
     private final TcpClient deviceClient;
 
     /**
      * {
-     *  cmdName:'motor_y_move',
-     *  cmdId:'',
-     *  device:'x',
-     *   action:'move',
-     *   param:{
-     *     current:'',//这四个参数可以不同时存在
-     *     direction:'forward|backward',
-     *     position:'',
-     *     speed:''
-     *   }
+     * cmdName:'motor_y_move',
+     * cmdId:'',
+     * device:'x',
+     * action:'move',
+     * param:{
+     * current:'',//这四个参数可以不同时存在
+     * direction:'forward|backward',
+     * position:'',
+     * speed:''
      * }
+     * }
+     *
      * @param cmdForm
      * @param emitter
      * @throws Exception
@@ -53,7 +55,14 @@ public class MotorYMove implements CommandHandler {
         String frontCmdId = cmdForm.getCmdId();
         String frontCmdName = cmdForm.getCmdName();
         Map<String, Object> param = cmdForm.getParam();
-        Double position = (Double) param.get("position");
+        Double position = Optional.ofNullable(param.get("position"))
+                .map(Object::toString)
+                .map(Double::parseDouble)
+                .orElse(null);
+        Double speed = Optional.ofNullable(param.get("speed"))
+                .map(Object::toString)
+                .map(Double::parseDouble)
+                .orElse(null);
         String direction = (String) param.get("direction");
 
 
@@ -110,13 +119,13 @@ public class MotorYMove implements CommandHandler {
         Double finalPosition = 0.0;
 
 
-        if("forward".equals(direction)){
-            finalPosition+=yAxisPosition+position;
+        if ("forward".equals(direction)) {
+            finalPosition = yAxisPosition + position;
         }
-        if("backward".equals(direction)){
-            finalPosition-=yAxisPosition-position;
+        if ("backward".equals(direction)) {
+            finalPosition = yAxisPosition - position;
 
-            if(finalPosition<0){
+            if (finalPosition < 0) {
                 finalPosition = 0.0;
             }
         }
@@ -126,7 +135,7 @@ public class MotorYMove implements CommandHandler {
          * 5.生成电机移动指令，并发送指令
          */
 
-        cmdToDevice = DeviceCommandGenerator.motor_y_position_set(finalPosition);//关闭喷嘴阀
+        cmdToDevice = DeviceCommandGenerator.motor_y_position_set(finalPosition, speed);
         cmdToDeviceFuture = new CommandFuture();
         cmdToDeviceFuture.setCmdToDevice(cmdToDevice);
         Integer nozzleValveCloseCMDToDeviceCmdId = cmdToDevice.getCmdId();
@@ -155,10 +164,12 @@ public class MotorYMove implements CommandHandler {
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "Y移动指令返回错误", cmdToDeviceResult), MediaType.APPLICATION_JSON);
             emitter.complete();
         }
-        Boolean nozzleValveCloseCMDToDeviceResultStatus = cmdToDeviceResult.getBool("result");
-        if (!nozzleValveCloseCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "Y移动指令执行失败", cmdToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
+        Object resultStatus = cmdToDeviceResult.getObj("result");
+        if (resultStatus instanceof Boolean) {
+            if (!(Boolean) resultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "Y移动指令执行失败", cmdToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+            }
         }
 
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "Y移动指令反馈", cmdToDeviceResult), MediaType.APPLICATION_JSON);

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

@@ -18,8 +18,6 @@ import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
-import java.util.Map;
-
 /**
  * z轴回原点
  */
@@ -70,15 +68,20 @@ public class MotorYOrigin implements CommandHandler {
         if (!cmdToDeviceFuture.isReceived()) {
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "Y回原点指令响应超时", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
             emitter.complete();
+            return;
         }
         if (laser_control_open_CMDToDeviceResult.getJSONObject("error") != null) {
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "Y回原点指令返回错误", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
             emitter.complete();
+            return;
         }
-        Boolean nozzleValveCloseCMDToDeviceResultStatus = laser_control_open_CMDToDeviceResult.getBool("result");
-        if (!nozzleValveCloseCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "Y回原点指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
+        Object resultStatus = laser_control_open_CMDToDeviceResult.getObj("result");
+        if (resultStatus instanceof Boolean) {
+            if (!(Boolean) resultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "Y回原点指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
         }
 
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "Y回原点指令指令反馈", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);

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

@@ -73,10 +73,12 @@ public class MotorYStop implements CommandHandler {
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "X停止指令返回错误", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
             emitter.complete();
         }
-        Boolean nozzleValveCloseCMDToDeviceResultStatus = laser_control_open_CMDToDeviceResult.getBool("result");
-        if (!nozzleValveCloseCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "Y停止指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
+        Object resultStatus = laser_control_open_CMDToDeviceResult.getObj("result");
+        if (resultStatus instanceof Boolean) {
+            if (!(Boolean) resultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "Y停止指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+            }
         }
 
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "Y停止指令指令反馈", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);

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

@@ -19,6 +19,7 @@ import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
 import java.util.Map;
+import java.util.Optional;
 
 /**
  * z轴回原点
@@ -27,23 +28,24 @@ import java.util.Map;
 @Component
 @RequiredArgsConstructor
 @Async("asyncExecutor")
-@CommandMapping("motor_x_move")//业务指令注解
+@CommandMapping("motor_z_to_position")//业务指令注解
 public class MotorZMove implements CommandHandler {
     private final TcpClient deviceClient;
 
     /**
      * {
-     *  cmdName:'motor_z_move',
-     *  cmdId:'',
-     *  device:'x',
-     *   action:'move',
-     *   param:{
-     *     current:'',//这四个参数可以不同时存在
-     *     direction:'forward|backward',
-     *     position:'',
-     *     speed:''
-     *   }
+     * cmdName:'motor_z_move',
+     * cmdId:'',
+     * device:'x',
+     * action:'move',
+     * param:{
+     * current:'',//这四个参数可以不同时存在
+     * direction:'forward|backward',
+     * position:'',
+     * speed:''
      * }
+     * }
+     *
      * @param cmdForm
      * @param emitter
      * @throws Exception
@@ -53,16 +55,23 @@ public class MotorZMove implements CommandHandler {
         String frontCmdId = cmdForm.getCmdId();
         String frontCmdName = cmdForm.getCmdName();
         Map<String, Object> param = cmdForm.getParam();
-        Double position = (Double) param.get("position");
-        String direction = (String) param.get("direction");
-
-
         /**
          * 1.向前端发送接收到指令
          */
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RECEIVE, "后台已收到指令"), MediaType.APPLICATION_JSON);
 
 
+        Double position = Optional.ofNullable(param.get("position"))
+                .map(Object::toString)
+                .map(Double::parseDouble)
+                .orElse(null);
+        Double speed = Optional.ofNullable(param.get("speed"))
+                .map(Object::toString)
+                .map(Double::parseDouble)
+                .orElse(null);
+        String direction = (String) param.get("direction");
+
+
         /**
          * 2.获取电机Z的位置
          */
@@ -110,13 +119,13 @@ public class MotorZMove implements CommandHandler {
         Double finalPosition = 0.0;
 
 
-        if("forward".equals(direction)){
-            finalPosition+=zAxisPosition+position;
+        if ("forward".equals(direction)) {
+            finalPosition = zAxisPosition + position;
         }
-        if("backward".equals(direction)){
-            finalPosition-=zAxisPosition-position;
+        if ("backward".equals(direction)) {
+            finalPosition = zAxisPosition - position;
 
-            if(finalPosition<0){
+            if (finalPosition < 0) {
                 finalPosition = 0.0;
             }
         }
@@ -126,7 +135,7 @@ public class MotorZMove implements CommandHandler {
          * 5.生成电机移动指令，并发送指令
          */
 
-        cmdToDevice = DeviceCommandGenerator.motor_x_position_set(finalPosition);//关闭喷嘴阀
+        cmdToDevice = DeviceCommandGenerator.motor_z_position_set(finalPosition, speed);
         cmdToDeviceFuture = new CommandFuture();
         cmdToDeviceFuture.setCmdToDevice(cmdToDevice);
         Integer nozzleValveCloseCMDToDeviceCmdId = cmdToDevice.getCmdId();
@@ -155,10 +164,12 @@ public class MotorZMove implements CommandHandler {
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "X移动指令返回错误", cmdToDeviceResult), MediaType.APPLICATION_JSON);
             emitter.complete();
         }
-        Boolean nozzleValveCloseCMDToDeviceResultStatus = cmdToDeviceResult.getBool("result");
-        if (!nozzleValveCloseCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "X移动指令执行失败", cmdToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
+        Object resultStatus = cmdToDeviceResult.getObj("result");
+        if (resultStatus instanceof Boolean) {
+            if (!(Boolean) resultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "X移动指令执行失败", cmdToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+            }
         }
 
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "X移动指令反馈", cmdToDeviceResult), MediaType.APPLICATION_JSON);

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

@@ -68,15 +68,20 @@ public class MotorZOrigin implements CommandHandler {
         if (!cmdToDeviceFuture.isReceived()) {
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "Z回原点指令响应超时", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
             emitter.complete();
+            return;
         }
         if (laser_control_open_CMDToDeviceResult.getJSONObject("error") != null) {
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "Z回原点指令返回错误", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
             emitter.complete();
+            return;
         }
-        Boolean nozzleValveCloseCMDToDeviceResultStatus = laser_control_open_CMDToDeviceResult.getBool("result");
-        if (!nozzleValveCloseCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "Z回原点指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
+        Object resultStatus = laser_control_open_CMDToDeviceResult.getObj("result");
+        if (resultStatus instanceof Boolean) {
+            if (!(Boolean) resultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "Z回原点指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
         }
 
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "Z回原点指令指令反馈", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);

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

@@ -73,12 +73,13 @@ public class MotorZStop implements CommandHandler {
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "Z停止指令返回错误", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
             emitter.complete();
         }
-        Boolean nozzleValveCloseCMDToDeviceResultStatus = laser_control_open_CMDToDeviceResult.getBool("result");
-        if (!nozzleValveCloseCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "Z停止指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
+        Object resultStatus = laser_control_open_CMDToDeviceResult.getObj("result");
+        if (resultStatus instanceof Boolean) {
+            if (!(Boolean) resultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "Z停止指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+            }
         }
-
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "Z停止指令指令反馈", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
         emitter.complete();
     }

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

@@ -50,7 +50,6 @@ public class NozzleValveClose implements CommandHandler {
         cmdToDeviceFuture.waitForContinue(); // 等待设备的反馈
 
 
-
         JSONObject nozzleValveCloseCMDToDeviceResult = cmdToDeviceFuture.getCallbackResult(); // 拿到设备返回结果
         CurrentSendCmdMapInstance.getInstance().removeCommand(nozzleValveCloseCMDToDeviceCmdId); // 从map中删除该指令
 
@@ -62,10 +61,12 @@ public class NozzleValveClose implements CommandHandler {
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭喷嘴阀指令返回错误", nozzleValveCloseCMDToDeviceResult), MediaType.APPLICATION_JSON);
             emitter.complete();
         }
-        Boolean nozzleValveCloseCMDToDeviceResultStatus = nozzleValveCloseCMDToDeviceResult.getBool("result");
-        if (!nozzleValveCloseCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭喷嘴阀指令执行失败", nozzleValveCloseCMDToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
+        Object resultStatus = nozzleValveCloseCMDToDeviceResult.getObj("result");
+        if (resultStatus instanceof Boolean) {
+            if (!(Boolean) resultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭喷嘴阀指令执行失败", nozzleValveCloseCMDToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+            }
         }
 
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "关闭喷嘴阀指令反馈", nozzleValveCloseCMDToDeviceResult), MediaType.APPLICATION_JSON);

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

@@ -37,9 +37,6 @@ public class NozzleValveOpen implements CommandHandler {
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RECEIVE, "后台已收到指令"), MediaType.APPLICATION_JSON);
 
 
-
-
-
         CMDToDevice cmdToDevice = DeviceCommandGenerator.nozzle_valve_open();//生成指令 开启喷嘴阀
         CommandFuture cmdToDeviceFuture = new CommandFuture();
         cmdToDeviceFuture.setCmdToDevice(cmdToDevice);
@@ -66,11 +63,12 @@ public class NozzleValveOpen implements CommandHandler {
             emitter.complete();
 
         }
-        Boolean nozzleValveOpenCMDToDeviceResultStatus = nozzleValveOpenCMDToDeviceResult.getBool("result");
-        if (!nozzleValveOpenCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "开启喷嘴阀指令执行失败", nozzleValveOpenCMDToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-
+        Object resultStatus = nozzleValveOpenCMDToDeviceResult.getObj("result");
+        if (resultStatus instanceof Boolean) {
+            if (!(Boolean) resultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "开启喷嘴阀指令执行失败", nozzleValveOpenCMDToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+            }
         }
 
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "开启喷嘴阀指令反馈", nozzleValveOpenCMDToDeviceResult), MediaType.APPLICATION_JSON);

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

@@ -18,8 +18,6 @@ import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
-import java.util.Map;
-
 /**
  * z轴回原点
  */
@@ -76,10 +74,12 @@ public class ThreeWayValveCloseAll implements CommandHandler {
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "全部关闭指令返回错误", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
             emitter.complete();
         }
-        Boolean nozzleValveCloseCMDToDeviceResultStatus = laser_control_open_CMDToDeviceResult.getBool("result");
-        if (!nozzleValveCloseCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "全部关闭指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
+        Object resultStatus = laser_control_open_CMDToDeviceResult.getObj("result");
+        if (resultStatus instanceof Boolean) {
+            if (!(Boolean) resultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "全部关闭指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+            }
         }
 
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "全部关闭指令反馈", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);

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

@@ -18,8 +18,6 @@ import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
-import java.util.Map;
-
 /**
  * z轴回原点
  */
@@ -76,10 +74,12 @@ public class ThreeWayValveOpenNuzzlePipeline implements CommandHandler {
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开喷嘴管路指令返回错误", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
             emitter.complete();
         }
-        Boolean nozzleValveCloseCMDToDeviceResultStatus = laser_control_open_CMDToDeviceResult.getBool("result");
-        if (!nozzleValveCloseCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开喷嘴管路指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
+        Object resultStatus = laser_control_open_CMDToDeviceResult.getObj("result");
+        if (resultStatus instanceof Boolean) {
+            if (!(Boolean) resultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开喷嘴管路指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+            }
         }
 
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "打开喷嘴管路指令反馈", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);

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

@@ -18,8 +18,6 @@ import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
-import java.util.Map;
-
 /**
  * z轴回原点
  */
@@ -75,12 +73,13 @@ public class ThreeWayValveOpenSyringePipeline implements CommandHandler {
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开注射器管路指令返回错误", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
             emitter.complete();
         }
-        Boolean nozzleValveCloseCMDToDeviceResultStatus = laser_control_open_CMDToDeviceResult.getBool("result");
-        if (!nozzleValveCloseCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开注射器管路指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
+        Object resultStatus = laser_control_open_CMDToDeviceResult.getObj("result");
+        if (resultStatus instanceof Boolean) {
+            if (!(Boolean) resultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开注射器管路指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+            }
         }
-
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "打开注射器管路指令反馈", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
         emitter.complete();
     }

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

@@ -18,8 +18,6 @@ import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
-import java.util.Map;
-
 /**
  * z轴回原点
  */
@@ -75,12 +73,13 @@ public class WashValveClose implements CommandHandler {
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭清洗阀指令返回错误", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
             emitter.complete();
         }
-        Boolean nozzleValveCloseCMDToDeviceResultStatus = laser_control_open_CMDToDeviceResult.getBool("result");
-        if (!nozzleValveCloseCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭清洗阀指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
+        Object resultStatus = laser_control_open_CMDToDeviceResult.getObj("result");
+        if (resultStatus instanceof Boolean) {
+            if (!(Boolean) resultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭清洗阀指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+            }
         }
-
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "关闭清洗阀指令指令反馈", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
         emitter.complete();
     }

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

@@ -18,8 +18,6 @@ import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
-import java.util.Map;
-
 /**
  * z轴回原点
  */
@@ -76,10 +74,12 @@ public class WashValveOpen implements CommandHandler {
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开清洗阀指令返回错误", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
             emitter.complete();
         }
-        Boolean nozzleValveCloseCMDToDeviceResultStatus = laser_control_open_CMDToDeviceResult.getBool("result");
-        if (!nozzleValveCloseCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开清洗阀指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
+        Object resultStatus = laser_control_open_CMDToDeviceResult.getObj("result");
+        if (resultStatus instanceof Boolean) {
+            if (!(Boolean) resultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开清洗阀指令执行失败", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+            }
         }
 
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "打开清洗阀指令指令反馈", laser_control_open_CMDToDeviceResult), MediaType.APPLICATION_JSON);

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

@@ -66,11 +66,13 @@ public class DehumidifierStart implements CommandHandler {
             emitter.complete();
             return;
         }
-        Boolean humidityStatus = humidityResult.getBool("result");
-        if (!humidityStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "获取湿度指令执行失败", humidityResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
+        Object resultStatus = humidityResult.getObj("result");
+        if (resultStatus instanceof Boolean) {
+            if (!(Boolean) resultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "获取湿度指令执行失败", humidityResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
         }
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "获取湿度指令反馈", humidityResult), MediaType.APPLICATION_JSON);
         Double deviceHumidity = humidityResult.getJSONObject("result").getDouble("humidity");
@@ -102,11 +104,14 @@ public class DehumidifierStart implements CommandHandler {
             emitter.complete();
             return;
         }
-        Boolean dehumidifierValveStatus = dehumidifierValveResult.getBool("result");
-        if (!dehumidifierValveStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "开启除湿阀指令执行失败", dehumidifierValveResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
+
+        Object dehumidifierValveStatus = dehumidifierValveResult.getObj("result");
+        if (dehumidifierValveStatus instanceof Boolean) {
+            if (!(Boolean) dehumidifierValveStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "开启除湿阀指令执行失败", dehumidifierValveResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
         }
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "开启除湿阀指令反馈", dehumidifierValveResult), MediaType.APPLICATION_JSON);
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "指令执行完毕"), MediaType.APPLICATION_JSON);

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

@@ -55,11 +55,14 @@ public class DehumidifierStop implements CommandHandler {
             emitter.complete();
             return;
         }
-        Boolean cmdStatus = deviceResult.getBool("result");
-        if (!cmdStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭除湿阀指令执行失败", deviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
+
+        Object cmdStatus = deviceResult.getObj("result");
+        if (cmdStatus instanceof Boolean) {
+            if (!(Boolean) cmdStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭除湿阀指令执行失败", deviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
         }
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "关闭除湿阀指令反馈", deviceResult), MediaType.APPLICATION_JSON);
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "指令执行完毕"), MediaType.APPLICATION_JSON);

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

@@ -135,11 +135,14 @@ public class MatrixSprayChangeParam implements CommandHandler {
             emitter.complete();
             return true;
         }
-        Boolean motorXSpeedSetStatus = motorXSpeedSetResult.getBool("result");
-        if (!motorXSpeedSetStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "x轴电机速度设置指令执行失败", motorXSpeedSetResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return true;
+
+        Object motorXSpeedSetStatus = motorXSpeedSetResult.getObj("result");
+        if (motorXSpeedSetStatus instanceof Boolean) {
+            if (!(Boolean) motorXSpeedSetStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "x轴电机速度设置指令执行失败", motorXSpeedSetResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return true;
+            }
         }
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "x轴电机速度设置指令反馈", motorXSpeedSetResult), MediaType.APPLICATION_JSON);
 
@@ -232,11 +235,13 @@ public class MatrixSprayChangeParam implements CommandHandler {
             return true;
         }
 
-        Boolean syringePumpVolumeSetStatus = syringePumpVolumeSetResult.getBool("result");
-        if (!syringePumpVolumeSetStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "注射泵流速设置指令执行失败", syringePumpVolumeSetResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return true;
+        Object syringePumpVolumeSetStatus = syringePumpVolumeSetResult.getObj("result");
+        if (syringePumpVolumeSetStatus instanceof Boolean) {
+            if (!(Boolean) syringePumpVolumeSetStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "注射泵流速设置指令执行失败", syringePumpVolumeSetResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return true;
+            }
         }
 
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "注射泵流速设置指令反馈", syringePumpVolumeSetResult), MediaType.APPLICATION_JSON);
@@ -268,12 +273,15 @@ public class MatrixSprayChangeParam implements CommandHandler {
             return;
         }
 
-        Boolean highVoltageCloseStatus = highVoltageCloseResult.getBool("result");
-        if (!highVoltageCloseStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭高压指令执行失败", highVoltageCloseResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
+        Object highVoltageCloseStatus = highVoltageCloseResult.getObj("result");
+        if (highVoltageCloseStatus instanceof Boolean) {
+            if (!(Boolean) highVoltageCloseStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭高压指令执行失败", highVoltageCloseResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "关闭高压指令反馈", highVoltageCloseResult), MediaType.APPLICATION_JSON);
     }
 
@@ -339,12 +347,15 @@ public class MatrixSprayChangeParam implements CommandHandler {
             return true;
         }
 
-        Boolean motorZPositionSetDownCmdToDeviceResultStatus = motorZPositionSetDownCmdToDeviceResult.getBool("result");
-        if (!motorZPositionSetDownCmdToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动z轴到指定位指令执行失败", motorZPositionSetDownCmdToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return true;
+        Object motorZPositionSetDownCmdToDeviceResultStatus = motorZPositionSetDownCmdToDeviceResult.getObj("result");
+        if (motorZPositionSetDownCmdToDeviceResultStatus instanceof Boolean) {
+            if (!(Boolean) motorZPositionSetDownCmdToDeviceResultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动z轴到指定位指令执行失败", motorZPositionSetDownCmdToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return true;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "移动z轴到指定位指令反馈", motorZPositionSetDownCmdToDeviceResult), MediaType.APPLICATION_JSON);
         return false;
     }
@@ -370,12 +381,15 @@ public class MatrixSprayChangeParam implements CommandHandler {
             emitter.complete();
             return true;
         }
-        Boolean highVoltageOpenStatus = highVoltageOpenResult.getBool("result");
-        if (!highVoltageOpenStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "开启高压指令执行失败", highVoltageOpenResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return true;
+        Object highVoltageOpenStatus = highVoltageOpenResult.getObj("result");
+        if (highVoltageOpenStatus instanceof Boolean) {
+            if (!(Boolean) highVoltageOpenStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "开启高压指令执行失败", highVoltageOpenResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return true;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "开启高压指令反馈", highVoltageOpenResult), MediaType.APPLICATION_JSON);
         return false;
     }

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

@@ -215,12 +215,15 @@ public class MatrixSprayContinue implements CommandHandler {
             emitter.complete();
             return true;
         }
-        Boolean motorXSpeedSetStatus = motorXSpeedSetResult.getBool("result");
-        if (!motorXSpeedSetStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "x轴电机速度设置指令执行失败", motorXSpeedSetResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return true;
+        Object motorXSpeedSetStatus = motorXSpeedSetResult.getObj("result");
+        if (motorXSpeedSetStatus instanceof Boolean) {
+            if (!(Boolean) motorXSpeedSetStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "x轴电机速度设置指令执行失败", motorXSpeedSetResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return true;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "x轴电机速度设置指令反馈", motorXSpeedSetResult), MediaType.APPLICATION_JSON);
 
 
@@ -312,11 +315,13 @@ public class MatrixSprayContinue implements CommandHandler {
             return true;
         }
 
-        Boolean syringePumpVolumeSetStatus = syringePumpVolumeSetResult.getBool("result");
-        if (!syringePumpVolumeSetStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "注射泵流速设置指令执行失败", syringePumpVolumeSetResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return true;
+        Object syringePumpVolumeSetStatus = syringePumpVolumeSetResult.getObj("result");
+        if (syringePumpVolumeSetStatus instanceof Boolean) {
+            if (!(Boolean) syringePumpVolumeSetStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "注射泵流速设置指令执行失败", syringePumpVolumeSetResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return true;
+            }
         }
 
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "注射泵流速设置指令反馈", syringePumpVolumeSetResult), MediaType.APPLICATION_JSON);
@@ -348,12 +353,15 @@ public class MatrixSprayContinue implements CommandHandler {
             return;
         }
 
-        Boolean highVoltageCloseStatus = highVoltageCloseResult.getBool("result");
-        if (!highVoltageCloseStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭高压指令执行失败", highVoltageCloseResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
+        Object highVoltageCloseStatus = highVoltageCloseResult.getObj("result");
+        if (highVoltageCloseStatus instanceof Boolean) {
+            if (!(Boolean) highVoltageCloseStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭高压指令执行失败", highVoltageCloseResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "关闭高压指令反馈", highVoltageCloseResult), MediaType.APPLICATION_JSON);
     }
 
@@ -419,12 +427,15 @@ public class MatrixSprayContinue implements CommandHandler {
             return true;
         }
 
-        Boolean motorZPositionSetDownCmdToDeviceResultStatus = motorZPositionSetDownCmdToDeviceResult.getBool("result");
-        if (!motorZPositionSetDownCmdToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动z轴到指定位指令执行失败", motorZPositionSetDownCmdToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return true;
+        Object motorZPositionSetDownCmdToDeviceResultStatus = motorZPositionSetDownCmdToDeviceResult.getObj("result");
+        if (motorZPositionSetDownCmdToDeviceResultStatus instanceof Boolean) {
+            if (!(Boolean) motorZPositionSetDownCmdToDeviceResultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动z轴到指定位指令执行失败", motorZPositionSetDownCmdToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return true;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "移动z轴到指定位指令反馈", motorZPositionSetDownCmdToDeviceResult), MediaType.APPLICATION_JSON);
         return false;
     }
@@ -450,12 +461,15 @@ public class MatrixSprayContinue implements CommandHandler {
             emitter.complete();
             return true;
         }
-        Boolean highVoltageOpenStatus = highVoltageOpenResult.getBool("result");
-        if (!highVoltageOpenStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "开启高压指令执行失败", highVoltageOpenResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return true;
+        Object highVoltageOpenStatus = highVoltageOpenResult.getObj("result");
+        if (highVoltageOpenStatus instanceof Boolean) {
+            if (!(Boolean) highVoltageOpenStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "开启高压指令执行失败", highVoltageOpenResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return true;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "开启高压指令反馈", highVoltageOpenResult), MediaType.APPLICATION_JSON);
         return false;
     }

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

@@ -64,12 +64,16 @@ public class MatrixSprayPause implements CommandHandler {
             emitter.complete();
             return;
         }
-        Boolean motorXStopStatus = motorXStopResult.getBool("result");
-        if (!motorXStopStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "x轴停止移动指令执行失败", motorXStopResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
+
+        Object motorXStopStatus = motorXStopResult.getObj("result");
+        if (motorXStopStatus instanceof Boolean) {
+            if (!(Boolean) motorXStopStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "x轴停止移动指令执行失败", motorXStopResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "x轴停止移动指令反馈", motorXStopResult), MediaType.APPLICATION_JSON);
 
         CMDToDevice motorYStopCMDToDevice = DeviceCommandGenerator.motor_y_stop(); //y轴停止移动
@@ -94,12 +98,16 @@ public class MatrixSprayPause implements CommandHandler {
             emitter.complete();
             return;
         }
-        Boolean motorYStopStatus = motorYStopResult.getBool("result");
-        if (!motorYStopStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "y轴停止移动指令执行失败", motorYStopResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
+
+        Object motorYStopStatus = motorYStopResult.getObj("result");
+        if (motorYStopStatus instanceof Boolean) {
+            if (!(Boolean) motorYStopStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "y轴停止移动指令执行失败", motorYStopResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "y轴停止移动指令反馈", motorYStopResult), MediaType.APPLICATION_JSON);
         //获取xy位置
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "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"), MediaType.APPLICATION_JSON);
@@ -123,6 +131,14 @@ public class MatrixSprayPause implements CommandHandler {
             emitter.complete();
             return;
         }
+        Object motorXYZPositionGetCmdToDeviceResultStatus = motorXYZPositionGetCmdToDeviceResult.getObj("result");
+        if (motorXYZPositionGetCmdToDeviceResultStatus instanceof Boolean) {
+            if (!(Boolean) motorXYZPositionGetCmdToDeviceResultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "获得电机XYZ相对原点坐标指令执行失败", motorXYZPositionGetCmdToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
+        }
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "电机XYZ相对原点坐标指令反馈", motorXYZPositionGetCmdToDeviceResult), MediaType.APPLICATION_JSON);
         Double xAxisPosition = motorXYZPositionGetCmdToDeviceResult.getJSONObject("result").getDouble("xAxisPosition");//当前x轴相对于原点的位置
         if (xAxisPosition == null || xAxisPosition < 0.0) {
@@ -130,6 +146,7 @@ public class MatrixSprayPause implements CommandHandler {
             emitter.complete();
             return;
         }
+
         Double yAxisPosition = motorXYZPositionGetCmdToDeviceResult.getJSONObject("result").getDouble("yAxisPosition");//当前y轴相对于原点的位置
         if (yAxisPosition == null || yAxisPosition < 0.0) {
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "获得电机XYZ相对原点坐标指令执行失败", motorXYZPositionGetCmdToDeviceResult), MediaType.APPLICATION_JSON);
@@ -160,12 +177,17 @@ public class MatrixSprayPause implements CommandHandler {
             emitter.complete();
             return;
         }
-        Boolean nozzleValveCloseCMDToDeviceResultStatus = nozzleValveCloseCMDToDeviceResult.getBool("result");
-        if (!nozzleValveCloseCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭喷嘴阀指令执行失败", nozzleValveCloseCMDToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
+
+
+        Object nozzleValveCloseCMDToDeviceResultStatus = nozzleValveCloseCMDToDeviceResult.getObj("result");
+        if (nozzleValveCloseCMDToDeviceResultStatus instanceof Boolean) {
+            if (!(Boolean) nozzleValveCloseCMDToDeviceResultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭喷嘴阀指令执行失败", nozzleValveCloseCMDToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "关闭喷嘴阀指令反馈", nozzleValveCloseCMDToDeviceResult), MediaType.APPLICATION_JSON);
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "指令执行完毕"), MediaType.APPLICATION_JSON);
         emitter.complete();

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

@@ -725,11 +725,13 @@ public class MatrixSprayStart implements CommandHandler {
             return true;
         }
 
-        Boolean motorZOriginStatus = motorZOriginResult.getBool("result");
-        if (!motorZOriginStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "z轴回原点指令执行失败", motorZOriginResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return true;
+        Object motorZOriginStatus = motorZOriginResult.getObj("result");
+        if (motorZOriginStatus instanceof Boolean) {
+            if (!(Boolean) motorZOriginStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "z轴回原点指令执行失败", motorZOriginResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return true;
+            }
         }
 
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "z轴回原点指令反馈", motorZOriginResult), MediaType.APPLICATION_JSON);

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

@@ -225,7 +225,7 @@ public class NozzlePipelinePreFill implements CommandHandler {
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "移动z轴完毕", motorZPositionSetDownCmdToDeviceResult), MediaType.APPLICATION_JSON);
         //5.打开三通阀注射器管路
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "打开三通阀注射器管路"), MediaType.APPLICATION_JSON);
-        CMDToDevice threeWayValveOpenSprayPipelineCMDToDevice = DeviceCommandGenerator.three_way_valve_open_spray_pipeline();//生成指令 打开三通阀注射器管路
+        CMDToDevice threeWayValveOpenSprayPipelineCMDToDevice = DeviceCommandGenerator.three_way_valve_open_nozzle_pipeline();//生成指令 打开三通阀注射器管路
         CommandFuture threeWayValveOpenSprayPipelineCMDToDeviceFuture = new CommandFuture();
         threeWayValveOpenSprayPipelineCMDToDeviceFuture.setCmdToDevice(threeWayValveOpenSprayPipelineCMDToDevice);
         Integer threeWayValveOpenSprayPipelineCMDToDeviceCmdId = threeWayValveOpenSprayPipelineCMDToDevice.getCmdId();

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

@@ -225,7 +225,7 @@ public class SyringePipelineWash implements CommandHandler {
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "移动z轴完毕", motorZPositionSetDownCmdToDeviceResult), MediaType.APPLICATION_JSON);
         //5.打开三通阀注射器管路
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "打开三通阀注射器管路"), MediaType.APPLICATION_JSON);
-        CMDToDevice threeWayValveOpenSprayPipelineCMDToDevice = DeviceCommandGenerator.three_way_valve_open_spray_pipeline();//生成指令 打开三通阀注射器管路
+        CMDToDevice threeWayValveOpenSprayPipelineCMDToDevice = DeviceCommandGenerator.three_way_valve_open_nozzle_pipeline();//生成指令 打开三通阀注射器管路
         CommandFuture threeWayValveOpenSprayPipelineCMDToDeviceFuture = new CommandFuture();
         threeWayValveOpenSprayPipelineCMDToDeviceFuture.setCmdToDevice(threeWayValveOpenSprayPipelineCMDToDevice);
         Integer threeWayValveOpenSprayPipelineCMDToDeviceCmdId = threeWayValveOpenSprayPipelineCMDToDevice.getCmdId();

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

@@ -3,6 +3,8 @@ package com.qyft.ms.device.device;
 import com.qyft.ms.device.model.DeviceStatusEnum;
 import lombok.Data;
 
+import java.util.concurrent.ConcurrentHashMap;
+
 @Data
 public class DeviceInstance {
     private static DeviceInstance instance;
@@ -43,6 +45,10 @@ public class DeviceInstance {
     private MotorY motorY;
     private MotorZ motorZ;
 
+
+    private  ConcurrentHashMap<Integer, Long> receivedCommands = new ConcurrentHashMap<>();
+
+
     private void updateMotorPosition(MotorNameEnum motorName, Double position) {
         if (motorName == MotorNameEnum.X) {
             motorX.setPosition(position);

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

@@ -5,6 +5,7 @@ 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.service.WebSocketService;
+import com.qyft.ms.device.device.DeviceInstance;
 import com.qyft.ms.device.model.bo.DeviceFeedback;
 import com.qyft.ms.device.service.DeviceStatusService;
 import io.netty.buffer.ByteBuf;
@@ -32,12 +33,11 @@ public class DeviceMessageHandler extends ChannelInboundHandlerAdapter {
     public final Map<String, CompletableFuture<DeviceFeedback>> responseMap = new ConcurrentHashMap<>();
     private final DeviceStatusService deviceStatusService;
     private final WebSocketService webSocketService;
-
+    private static final long DUPLICATE_CHECK_INTERVAL = 300;//ms
     @Setter
     private volatile CountDownLatch latch;
-    private static final long DUPLICATE_CHECK_INTERVAL = 300;//ms
-    private static final long CLEANUP_INTERVAL = 2000; // 5 秒清理一次
-    private static final ConcurrentHashMap<Integer, Long> receivedCommands = new ConcurrentHashMap<>();
+
+
 
     @Override
     public void channelRead(ChannelHandlerContext ctx, Object msg) {
@@ -50,7 +50,7 @@ public class DeviceMessageHandler extends ChannelInboundHandlerAdapter {
             String tag = deviceResult.get("tag").toString();
             Integer cmdId = payload.getInt("cmdId");
 
-
+            Map<Integer, Long> receivedCommands = DeviceInstance.getInstance().getReceivedCommands();
             long currentTime = System.currentTimeMillis();
             if (receivedCommands.containsKey(payload.getInt("cmdId"))) {
                 long lastReceivedTime = receivedCommands.get(payload.getInt("cmdId"));
@@ -96,30 +96,6 @@ public class DeviceMessageHandler extends ChannelInboundHandlerAdapter {
         }
     }
 
-    @PostConstruct
-    public void cleanupOldCommandsPeriodically() {
-        while (true) {
-            try {
-                Thread.sleep(CLEANUP_INTERVAL);
-                cleanupOldCommands();
-            } catch (InterruptedException e) {
-                Thread.currentThread().interrupt();
-                break;
-            }
-        }
-    }
-
 
-    private static void cleanupOldCommands() {
-        long currentTime = System.currentTimeMillis();
-        Iterator<Map.Entry<Integer, Long>> iterator = receivedCommands.entrySet().iterator();
-        while (iterator.hasNext()) {
-            Map.Entry<Integer, Long> entry = iterator.next();
-            if (currentTime - entry.getValue() > DUPLICATE_CHECK_INTERVAL) {
-                iterator.remove();
-            }
-        }
-        System.out.println("清理完成，当前记录数量: " + receivedCommands.size());
-    }
 
 }