From 03ed66fe8f5d92651d95a12f1963421765ce6b90 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= <baifengji@163.com>
Date: Sat, 31 May 2025 14:18:00 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A4=84=E7=90=86=E6=80=A5=E5=81=9C=E6=81=A2?=
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---
 .../gd/app/ws/client/DeviceEmergencyStopConfig.java      | 16 +++++++++++-----
 1 file changed, 11 insertions(+), 5 deletions(-)

diff --git a/src/main/java/com/iflytop/gd/app/ws/client/DeviceEmergencyStopConfig.java b/src/main/java/com/iflytop/gd/app/ws/client/DeviceEmergencyStopConfig.java
index 9eba5f6..bc8850e 100644
--- a/src/main/java/com/iflytop/gd/app/ws/client/DeviceEmergencyStopConfig.java
+++ b/src/main/java/com/iflytop/gd/app/ws/client/DeviceEmergencyStopConfig.java
@@ -1,6 +1,8 @@
 package com.iflytop.gd.app.ws.client;
 
-import com.iflytop.gd.app.service.device.DeviceEmergencyStopService;
+import com.iflytop.gd.app.core.CommandPoolManager;
+import com.iflytop.gd.app.service.device.DeviceStateService;
+import com.iflytop.gd.app.service.device.DeviceStepCommandService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Value;
@@ -13,8 +15,9 @@ import java.net.URI;
 @Configuration
 @RequiredArgsConstructor
 public class DeviceEmergencyStopConfig {
-    private final DeviceEmergencyStopService deviceEmergencyStopService;
-
+    private final DeviceStepCommandService stepCommandService;
+    private final DeviceStateService deviceStateService;
+    private final CommandPoolManager commandPoolManager;
 
     @Value("${iflytophald.ip}")
     String ip;
@@ -29,13 +32,16 @@ public class DeviceEmergencyStopConfig {
             if (s.get("event").equals("press")) {
                 log.info("触发急停{}", s);
                 try {
-                    deviceEmergencyStopService.press();
+                    commandPoolManager.forceShutdownAll();//强制终止现在运行的所有指令
+                    stepCommandService.stopAll();
+                    deviceStateService.getDeviceState().setEmergencyStop(true);
                 } catch (Exception e) {
                     log.error("设备急停失败:{}", e.getMessage());
                     throw new RuntimeException(e);
                 }
             } else if (s.get("event").equals("release")) {
-                deviceEmergencyStopService.release();
+                commandPoolManager.restartExecutor();
+                deviceStateService.getDeviceState().setEmergencyStop(false);
                 log.info("解除急停{}", s);
             }
         });