修改获取position bug

src/main/java/com/iflytop/handacid/app/command/control/PumpRotateStartCommand.java

@@ -63,7 +63,7 @@ public class PumpRotateStartCommand extends BaseCommandHandler {
                 CommandUtil.wait(newPositionCommandFuture);
                 Double newPosition = (Double) newPositionCommandFuture.getResponseResult().getJSONObject("data").get("position");
                 log.info("currentPosition: {}, newPosition: {}", currentPosition, newPosition);
-                webSocketSender.pushPumpPosition(newPosition - currentPosition);
+                webSocketSender.pushPumpPosition((newPosition - currentPosition) / 100);
             } else {
                 DeviceCommand deviceCommand = channelCtrlService.getPumpBackwardRotateCommandByChannel(channelCode);
                 CommandFuture commandFuture = deviceCommandService.sendCommand(deviceCommand);

src/main/java/com/iflytop/handacid/app/service/DeviceInitService.java

@@ -4,6 +4,8 @@ import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.iflytop.handacid.app.common.enums.ChannelCode;
 import com.iflytop.handacid.app.common.enums.SolutionAddMode;
 import com.iflytop.handacid.app.common.enums.SystemConfigKey;
+import com.iflytop.handacid.app.common.utils.CommandUtil;
+import com.iflytop.handacid.app.core.command.CommandFuture;
 import com.iflytop.handacid.app.core.command.DeviceCommand;
 import com.iflytop.handacid.app.core.command.DeviceCommandGenerator;
 import com.iflytop.handacid.app.core.state.ChannelState;
@@ -27,6 +29,7 @@ import jakarta.annotation.PostConstruct;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.ObjectProvider;
+import org.springframework.context.SmartLifecycle;
 import org.springframework.stereotype.Service;
 
 import java.util.List;
@@ -47,16 +50,15 @@ public class DeviceInitService {
     private final SolutionService solutionService;
     private final SystemConfigService systemConfigService;
 
-
     @PostConstruct
     public void init() {
         eventBus.regListener(this::onAppEvent);
+        initDeviceState();
         new Thread(() -> {
             try {
                 log.info("初始化开始");
                 initDeviceSetData();//初始化设备参数
                 initEnable();//使能
-                initDeviceState();
                 log.info("初始化完毕");
             } catch (Exception e) {
                 throw new RuntimeException(e);
@@ -74,18 +76,19 @@ public class DeviceInitService {
     /**
      * 初始化所有设备使能
      */
-    public void initEnable() {
+    public void initEnable() throws Exception {
         DeviceCommand pump1Enable = DeviceCommandGenerator.pump1Enable();
-        deviceCommandService.sendCommand(pump1Enable);
-
+        CommandFuture pump1EnableFuture = deviceCommandService.sendCommand(pump1Enable);
+        CommandUtil.wait(pump1EnableFuture);
         DeviceCommand pump2Enable = DeviceCommandGenerator.pump2Enable();
-        deviceCommandService.sendCommand(pump2Enable);
-
+        CommandFuture pump2EnableFuture = deviceCommandService.sendCommand(pump2Enable);
+        CommandUtil.wait(pump2EnableFuture);
         DeviceCommand pump3Enable = DeviceCommandGenerator.pump3Enable();
-        deviceCommandService.sendCommand(pump3Enable);
-
+        CommandFuture pump3EnableFuture = deviceCommandService.sendCommand(pump3Enable);
+        CommandUtil.wait(pump3EnableFuture);
         DeviceCommand pump4Enable = DeviceCommandGenerator.pump4Enable();
-        deviceCommandService.sendCommand(pump4Enable);
+        CommandFuture pump4EnableFuture = deviceCommandService.sendCommand(pump4Enable);
+        CommandUtil.wait(pump4EnableFuture);
     }
 
     /**
@@ -98,7 +101,7 @@ public class DeviceInitService {
             Channel channel = channelService.getOne(new LambdaQueryWrapper<>(new Channel()).eq(Channel::getCode, code));
             ChannelState channelState = channelStateObjectProvider.getObject(code, channel.getConcentration(), channel.getTargetVolume(), channel.getReceivedVolume(), channel.getCurrentVolume());
             Solution solution = solutionService.getById(channel.getSolutionId());
-            if(solution != null) {
+            if (solution != null) {
                 channelState.setSolutionId(solution.getId());
                 channelState.setSolutionName(solution.getName());
             }
@@ -114,7 +117,7 @@ public class DeviceInitService {
      * 初始化设备参数
      */
     public void initDeviceSetData() throws Exception {
-        if (deviceState.isVirtual() || deviceState.isInitComplete()) {
+        if (deviceState.isVirtual()) {
             return;
         }
         List<DeviceParamConfig> deviceParamConfigs = deviceParamConfigService.list();
@@ -128,6 +131,7 @@ public class DeviceInitService {
             while (!success) {
                 try {
                     canBusService.moduleSetReg(MId.valueOf(data.getMid()), RegIndex.valueOf(data.getRegIndex()), data.getRegInitVal());
+                    log.info(data.getMid() + data.getRegIndex());
                     success = true;
                 } catch (Exception e) {
                     log.error("设备初始化写入参数失败，错误: {}", e.getMessage());