feat:停止喷涂

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

@@ -4,6 +4,11 @@ package com.qyft.ms.app.handler;
 import lombok.Data;
 import org.springframework.stereotype.Component;
 
+import java.util.concurrent.CompletableFuture;
+import java.util.concurrent.ExecutorService;
+import java.util.concurrent.Executors;
+import java.util.concurrent.Future;
+
 @Component
 @Data
 public class MatrixSprayState {
@@ -12,4 +17,52 @@ public class MatrixSprayState {
      */
     private Double targetX = null;
     private Double targetY = null;
+
+    // 用于提交任务的线程池
+    private final ExecutorService executorService = Executors.newSingleThreadExecutor();
+
+    // 保存当前任务的 Future 对象
+    private volatile Future<?> taskFuture;
+
+    // 停止任务的标志，volatile 保证多线程可见性
+    private volatile boolean stopRequested = false;
+
+    // 重置状态，启动任务前调用
+    public void reset() {
+        stopRequested = false;
+    }
+
+    // 请求停止任务
+    public void requestStop() {
+        this.stopRequested = true;
+    }
+
+    /**
+     * 启动一个异步任务，并保存其 Future 对象
+     * @param task 需要异步执行的任务
+     */
+    public void startTask(Runnable task) {
+        reset();
+        taskFuture = executorService.submit(task);
+    }
+
+    /**
+     * 取消当前任务，设置停止标志并尝试调用 Future.cancel(true)
+     * @return 取消结果信息
+     */
+    public String cancelTask() {
+        requestStop();
+        if (taskFuture != null && !taskFuture.isDone()) {
+            boolean cancelled = taskFuture.cancel(true);
+            return cancelled ? "任务停止请求已发送" : "任务取消失败";
+        }
+        return "当前没有正在运行的任务";
+    }
+
+    /**
+     * 关闭线程池（如在程序退出时调用）
+     */
+    public void shutdown() {
+        executorService.shutdown();
+    }
 }

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

@@ -9,6 +9,7 @@ import com.qyft.ms.app.common.command.FrontCommandAck;
 import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.common.generator.PathGenerator;
 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;
@@ -16,7 +17,6 @@ import com.qyft.ms.device.handler.DeviceMessageHandler;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 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;
 
@@ -34,7 +34,7 @@ import java.util.concurrent.TimeoutException;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@Async("asyncExecutor")
+//@Async("asyncExecutor")
 @CommandMapping("matrix_spray_start")//业务指令注解
 public class MatrixSprayStart implements CommandHandler {
 
@@ -42,6 +42,8 @@ public class MatrixSprayStart implements CommandHandler {
 
     private final DeviceMessageHandler deviceMessageHandler;
 
+    private final MatrixSprayState matrixSprayState;
+
     /**
      * {
      * cmdName:'matrix_spray_start'
@@ -62,10 +64,14 @@ public class MatrixSprayStart implements CommandHandler {
      */
     @Override
     public void handle(CMDFormV2 cmdForm, ResponseBodyEmitter emitter) throws Exception {
+        log.info("申请中断喷涂线程:{}", matrixSprayState.cancelTask());
+        matrixSprayState.startTask(() -> {
+            try {
                 String frontCmdId = cmdForm.getCmdId();
                 String frontCmdName = cmdForm.getCmdName();
                 Map<String, Object> param = cmdForm.getParam();
                 emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RECEIVE, "后台已收到指令"), MediaType.APPLICATION_JSON);//向前端发送接收到指令
+
                 // 1. 参数校验
                 String matrixPathType = Optional.ofNullable(param.get("matrixPathType"))
                         .map(Object::toString)
@@ -226,7 +232,8 @@ public class MatrixSprayStart implements CommandHandler {
                                     spacing,
                                     PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN
                             );
-                    if (pathSpray(emitter, frontCmdId, frontCmdName, volume, pathList, movingSpeed)) return;//路径喷涂
+                            if (pathSpray(emitter, frontCmdId, frontCmdName, volume, pathList, movingSpeed))
+                                return;//路径喷涂
                             if (i + 1 != times) { //如果不是最后一次，执行完毕后回到玻片原点
                                 log.info("123");
                                 latch = new CountDownLatch(2);
@@ -255,7 +262,8 @@ public class MatrixSprayStart implements CommandHandler {
                                     spacing,
                                     PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT
                             );
-                    if (pathSpray(emitter, frontCmdId, frontCmdName, volume, pathList, movingSpeed)) return;//路径喷涂
+                            if (pathSpray(emitter, frontCmdId, frontCmdName, volume, pathList, movingSpeed))
+                                return;//路径喷涂
                             if (i + 1 != times) { //如果不是最后一次，执行完毕后回到玻片原点
                                 log.info("123");
                                 latch = new CountDownLatch(2);
@@ -288,13 +296,15 @@ public class MatrixSprayStart implements CommandHandler {
                                     spacing,
                                     PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT
                             );
-                    if (pathSpray(emitter, frontCmdId, frontCmdName, volume, pathList, movingSpeed)) return;//路径喷涂
+                            if (pathSpray(emitter, frontCmdId, frontCmdName, volume, pathList, movingSpeed))
+                                return;//路径喷涂
                             pathList = PathGenerator.generatePathPoints(
                                     leftReal, rightReal, topReal, bottomReal,
                                     spacing,
                                     PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN
                             );
-                    if (pathSpray(emitter, frontCmdId, frontCmdName, volume, pathList, movingSpeed)) return;//路径喷涂
+                            if (pathSpray(emitter, frontCmdId, frontCmdName, volume, pathList, movingSpeed))
+                                return;//路径喷涂
                             if (i + 1 != times) { //如果不是最后一次，执行完毕后回到玻片原点
                                 log.info("123");
                                 latch = new CountDownLatch(2);
@@ -340,8 +350,15 @@ public class MatrixSprayStart implements CommandHandler {
                 //12.结束日志
                 //TODO写日志
                 emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "指令执行完毕"), MediaType.APPLICATION_JSON);
+            } catch (Exception e) {
+                Thread.currentThread().interrupt();
+                log.info("喷涂线程已停止");
+                System.out.println("任务中断");
+            } finally {
                 emitter.complete();
             }
+        });
+    }
 
 
     private boolean motorSpeedSet(ResponseBodyEmitter emitter, Double movingSpeed, String frontCmdId, String frontCmdName) throws IOException {

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

@@ -49,6 +49,7 @@ public class MatrixSprayStop implements CommandHandler {
         String frontCmdId = cmdForm.getCmdId();
         String frontCmdName = cmdForm.getCmdName();
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RECEIVE, "后台已收到指令"), MediaType.APPLICATION_JSON);//向前端发送接收到指令
+        log.info("申请中断喷涂线程:{}", matrixSprayState.cancelTask());
         //1.轴停止移动
         CMDToDevice motorXStopCMDToDevice = DeviceCommandGenerator.motor_x_stop(); //x轴停止移动指令
         CommandFuture motorXStopCMDToDeviceFuture = new CommandFuture();