1

src/main/java/com/iflytop/gd/app/command/control/MoveToHeatAreaCommand.java

@@ -80,29 +80,29 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
         return runAsync(() -> {
             try {
 //                TrayState trayState = deviceStateService.getTrayInSolutionModule();
+                capModuleService.capUpBalanceNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand());//提升拍子存放区至拍子夹取的高度
                 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D); //将机械臂移动至加液模块上方
                 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayPick);//将夹爪打开，准备夹取托盘
                 gantryModuleService.gantryZMove(solutionModuleTrayMoveHeight);//下降z轴,使夹爪落入托盘孔位
                 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayGrip);//将夹爪收紧，夹住托盘
                 gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
                 deviceStateService.getDeviceState().getSolutionModule().setTrayStatus(0);//加液模块是否有托盘
-                deviceCommandTempUtilService.moveTrayHeatModuleAvoidDown(cmdDTO.getCommandId(), cmdDTO.getCommand(), null);//TODO 结构有问题临时避让 开始，移动托盘之前先降下所有加热模块
+//                deviceCommandTempUtilService.moveTrayHeatModuleAvoidDown(cmdDTO.getCommandId(), cmdDTO.getCommand(), null);//TODO 结构有问题临时避让 开始，移动托盘之前先降下所有加热模块
                 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatArea4TrayClawPoint3D);//将携带托盘的机械臂移动至4号加热模块上方
                 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaTrayClawPoint3D);//将携带托盘的机械臂移动至加热模块上方
-//                deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLift);//抬升加热位托盘 TODO 结构有问题临时避让 屏蔽
-                deviceCommandTempUtilService.moveTrayHeatModuleAvoidUp(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);//TODO 结构有问题临时避让 完毕，可以升起了，顺带提升目标加热模块
+//                deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLift);//抬升加热位托盘
+                deviceCommandTempUtilService.moveTrayHeatModuleAvoidUpNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);Thread.sleep(3200);//TODO 结构有问题临时避让 完毕，可以升起了，顺带提升目标加热模块
                 gantryModuleService.gantryZMove(heatModuleTrayMoveHeight);//下降z轴,使托盘落入加热模块
                 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayPick);//将夹爪打开，释放托盘
                 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayStatus(1);//加热模块是否存在托盘
                 gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
-
-                capModuleService.capUpBalance(cmdDTO.getCommandId(), cmdDTO.getCommand());//提升拍子存放区至拍子夹取的高度
                 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方
                 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪打开，准备夹取拍子
                 gantryModuleService.gantryZMove(capModuleCapMoveHeight);//下降z轴,使夹爪落入拍子升降模块拍子孔位
                 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapGrip);//将夹爪收紧，夹住拍子
                 gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
                 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaCapClawPointPoint3D);//将携带拍子的机械臂移动至加热模块拍子上方
+                capModuleService.capUpBalanceNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand()); //提升拍子存放区
                 gantryModuleService.gantryZMove(heatModuleCapMoveHeight);//下降z轴,使夹拍子落入加热模块
                 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪打开，释放拍子
                 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setCapExist(true);//加热模块是否存在拍子
@@ -111,7 +111,6 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
 //                trayState.setInHeatModule(true);
 //                heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, trayLower);//下降加热模块托盘
 //                deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(0);//加热模块托盘升降状态
-                capModuleService.capUpBalance(cmdDTO.getCommandId(), cmdDTO.getCommand()); //提升拍子存放区
                 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方
             } finally {
                 deviceStateService.getDeviceState().getGantryArm().setIdle(true);

src/main/java/com/iflytop/gd/app/command/control/MoveToSolutionAreaCommand.java

@@ -84,15 +84,15 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
             try {
 //                TrayState trayState = deviceStateService.getTrayInSolutionModule();
                 solutionModuleService.requestSolutionModule(cmdDTO.getCommandId(), cmdDTO.getCommand());//申请使用加液区并等待
-                capModuleService.capUpBalance(cmdDTO.getCommandId(), cmdDTO.getCommand()); //提升拍子存放区至拍子夹取的高度
+                capModuleService.capUpBalanceNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand()); //提升拍子存放区至拍子夹取的高度
                 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaCapClawPointPoint3D);//将机械臂移动至加热模块拍子上方
                 heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, trayLift);//抬升指定加热位托盘
                 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪打开，准备夹取拍子
                 gantryModuleService.gantryZMove(heatModuleCapMoveHeight);//下降z轴,使夹爪落入加热模块拍子孔位
                 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapGrip);//将夹爪收紧，夹住拍子
                 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setCapExist(false);//加热模块是否存在拍子
-                gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
-                capModuleService.capMotorMoveByNum(-1);//拍子存放模块下降1个拍子位置
+                capModuleService.capMotorMoveByNumNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand(), -1);//拍子存放模块下降1个拍子位置
+                gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0); Thread.sleep(2000);//抬升z轴
                 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawPoint3D);//将携带拍子的机械臂移动至存放区上方
                 gantryModuleService.gantryZMove(capModuleCapMoveHeight);//下降z轴,使夹拍子落入存放区
                 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪打开，释放夹取的拍子
@@ -105,13 +105,13 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
                 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayGrip);//将夹爪收紧，夹住托盘
                 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayStatus(0);//加热模块是否存在托盘
 //                trayState.setInHeatModule(false);//托盘是否在加热模块中
-                gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
+                deviceCommandTempUtilService.moveTrayHeatModuleAvoidDownNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);//TODO 临时避让下降
+                gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);Thread.sleep(2500);//抬升z轴
 //                deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLower);//下降加热模块托盘
 //                deviceStateService.setHeatModuleStateTrayUp(heatModuleId, 0);//加热模块托盘升降状态
-                deviceCommandTempUtilService.moveTrayHeatModuleAvoidDown(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);//TODO 临时避让下降
                 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatArea4TrayClawPoint3D);//将携带托盘的机械臂移动至4号加热模块上方
                 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D); //将携带托盘的机械臂移动至加液模块上方
-                deviceCommandTempUtilService.moveTrayHeatModuleAvoidUp(cmdDTO.getCommandId(), cmdDTO.getCommand(), null, heatModuleCode);//TODO 临时避 恢复抬起状态
+//                deviceCommandTempUtilService.moveTrayHeatModuleAvoidUpNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand(), null, heatModuleCode);//TODO 临时避 恢复抬起状态
                 gantryModuleService.gantryZMove(solutionModuleTrayMoveHeight);//下降z轴,使托盘落入加液模块
 //                trayState.setInSolutionModule(true);//托盘是否在加液模块中
                 deviceStateService.getDeviceState().getSolutionModule().setTrayStatus(1);//加液模块是否存在托盘

src/main/java/com/iflytop/gd/app/command/control/TrayDownCommand.java

@@ -46,7 +46,7 @@ public class TrayDownCommand extends BaseCommandHandler {
                 //下降加热位托盘
                 heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, trayLower);
                 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(0);
-                if (deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getHeatingType() == HeatingType.thermostatic) {
+//                if (deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getHeatingType() == HeatingType.thermostatic) {
 //                    schedulerManager.scheduleOnce(heatModuleCode,() -> {
 //                        try {
 //                            heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, trayLift);
@@ -55,7 +55,7 @@ public class TrayDownCommand extends BaseCommandHandler {
 //                            log.error("加热完毕抬起托盘错误{}", heatModuleCode, e);
 //                        }
 //                    }, deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getTargetTime(), TimeUnit.SECONDS);
-                }
+//                }
             } catch (Exception e) {
                 log.error("降下托盘失败", e);
             }

src/main/java/com/iflytop/gd/app/controller/TestController.java

@@ -3,6 +3,7 @@ package com.iflytop.gd.app.controller;
 import com.iflytop.gd.app.model.bo.status.CommandMutexState;
 import com.iflytop.gd.app.model.dto.AllSensorDTO;
 import com.iflytop.gd.app.service.api.TestService;
+import com.iflytop.gd.app.service.device.DeviceEmergencyStopService;
 import com.iflytop.gd.app.service.device.DeviceStateService;
 import com.iflytop.gd.app.service.device.module.CapModuleService;
 import com.iflytop.gd.app.service.device.module.SolutionModuleService;
@@ -32,6 +33,7 @@ public class TestController {
     private final CapModuleService capModuleService;
     private final DeviceStateService deviceStateService;
     private final SolutionModuleService solutionModuleService;
+    private final DeviceEmergencyStopService deviceEmergencyStopService;
 
     @Operation(summary = "获取所有传感器读数")
     @GetMapping("/all-sensor")
@@ -69,4 +71,17 @@ public class TestController {
     }
 
 
+    @Operation(summary = "触发急停")
+    @PostMapping("/press-emergency-stop")
+    public Result<?> pressEmergencyStop() throws Exception {
+        deviceEmergencyStopService.press();
+        return Result.success();
+    }
+
+    @Operation(summary = "解除急停")
+    @PostMapping("/release-emergency-stop")
+    public Result<?> releaseEmergencyStop() throws Exception {
+        deviceEmergencyStopService.release();
+        return Result.success();
+    }
 }

src/main/java/com/iflytop/gd/app/service/device/DeviceCommandTempUtilService.java

@@ -41,6 +41,27 @@ public class DeviceCommandTempUtilService {
     public void moveTrayHeatModuleAvoidUp(HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) throws Exception {
         moveTrayHeatModuleAvoidUp(null, null, targetHeatModuleCode, exceptionHeatModuleCodes);
     }
+    /**
+     * 避让抬升
+     * 临时移动托盘的时候，加热模块升降避让
+     * 该方法会恢复之前升起的状态
+     */
+    public void moveTrayHeatModuleAvoidUpNoWait(String cmdId, String cmdCode, HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) throws Exception {
+        double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //托盘升降抬升距离
+        for (HeatModuleCode heatModuleCode : moveTrayHeatModuleAvoidUpStateList) {
+            if (!Arrays.stream(exceptionHeatModuleCodes).toList().contains(heatModuleCode)) {
+                DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(heatModuleCode, trayLift);
+                deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+            }
+        }
+        if (targetHeatModuleCode != null) {
+            DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(targetHeatModuleCode, trayLift);
+            deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+        }
+        for (HeatModuleCode heatModuleCode : moveTrayHeatModuleAvoidUpStateList) {
+            deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(1);//加热模块托盘升降状态
+        }
+    }
 
     /**
      * 避让抬升
@@ -82,6 +103,34 @@ public class DeviceCommandTempUtilService {
      * 临时移动托盘的时候，加热模块升降避让
      * 该方法会下降所有升起的加热模块并且记录
      */
+    public void moveTrayHeatModuleAvoidDownNoWait(String cmdId, String cmdCode, HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) throws Exception {
+        moveTrayHeatModuleAvoidUpStateList.clear();
+        List<HeatModuleState> heatModuleStateList = deviceStateService.getDeviceState().getHeatModule();
+        double trayLower = devicePositionService.getPosition(DevicePositionCode.trayLower).getDistance(); //获取加热位下降托盘位置
+        for (HeatModuleState heatModuleState : heatModuleStateList) {
+            if (!Arrays.stream(exceptionHeatModuleCodes).toList().contains(heatModuleState.getModuleCode())) {
+                if (heatModuleState.getTrayUp() == 1) {
+                    HeatModuleCode heatModuleCode = heatModuleState.getModuleCode();
+                    DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(heatModuleCode, trayLower);
+                    deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+                    moveTrayHeatModuleAvoidUpStateList.add(heatModuleCode);
+                }
+            }
+        }
+        if (targetHeatModuleCode != null) {
+            DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(targetHeatModuleCode, trayLower);
+            deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+        }
+        for (HeatModuleCode heatModuleCode : moveTrayHeatModuleAvoidUpStateList) {
+            deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(0);//加热模块托盘升降状态
+        }
+    }
+
+    /**
+     * 避让下降
+     * 临时移动托盘的时候，加热模块升降避让
+     * 该方法会下降所有升起的加热模块并且记录
+     */
     public void moveTrayHeatModuleAvoidDown(String cmdId, String cmdCode, HeatModuleCode targetHeatModuleCode, HeatModuleCode... exceptionHeatModuleCodes) throws Exception {
         moveTrayHeatModuleAvoidUpStateList.clear();
         List<HeatModuleState> heatModuleStateList = deviceStateService.getDeviceState().getHeatModule();

src/main/java/com/iflytop/gd/app/service/device/DeviceEmergencyStopService.java

@@ -29,7 +29,7 @@ public class DeviceEmergencyStopService {
     }
 
     /**
-     * 处理解除急停
+     * 处理接触急停
      */
     public void release(){
         commandPoolManager.restartExecutor();

src/main/java/com/iflytop/gd/app/service/device/module/CapModuleService.java

@@ -35,6 +35,60 @@ public class CapModuleService {
     }
 
     /**
+     * 将拍子升降区抬升至可以获取的位置 不等待
+     */
+    public void capUpBalanceNoWait(String commandId, String command) throws Exception {
+        Boolean capExist01 = gdDeviceStatusService.getInputState(InputIOMId.CAP01_EXIST);
+        Boolean capExist02 = gdDeviceStatusService.getInputState(InputIOMId.CAP02_EXIST);
+        Boolean capExist03 = gdDeviceStatusService.getInputState(InputIOMId.CAP03_EXIST);
+        Boolean capExist04 = gdDeviceStatusService.getInputState(InputIOMId.CAP04_EXIST);
+        Boolean capExist05 = gdDeviceStatusService.getInputState(InputIOMId.CAP05_EXIST);
+        Boolean capExist06 = gdDeviceStatusService.getInputState(InputIOMId.CAP06_EXIST);
+        //如果传感器读数存在null，则视为异常
+        if (capExist01 == null || capExist02 == null || capExist03 == null || capExist04 == null || capExist05 == null || capExist06 == null) {
+            log.error("拍子存放区获取传感器状态异常");
+            throw new AppException(ResultCode.SENSOR_STATUS_FAILED);
+        }
+        //先统计拍子个数
+        int capNum = 0;
+        if (capExist01) {
+            return;
+        }
+        if (capExist02) {
+            capNum++;
+        }
+        if (capExist03) {
+            capNum++;
+        }
+        if (capExist04) {
+            capNum++;
+            if (capExist02 && !capExist03) {
+                throw new AppException(ResultCode.SENSOR_STATUS_FAILED);
+            }
+        }
+        if (capExist05) {
+            capNum++;
+            if (capExist03 && !capExist04) {
+                throw new AppException(ResultCode.SENSOR_STATUS_FAILED);
+            }
+        }
+        if (capExist06) {
+            capNum++;
+            if (capExist04 && !capExist05) {
+                throw new AppException(ResultCode.SENSOR_STATUS_FAILED);
+            }
+        }
+        if (capNum == 0) {
+            throw new AppException(ResultCode.CAP_MODULE_NO_CAP);
+        }
+        double capLiftingHeight = devicePositionService.getPosition(DevicePositionCode.capLiftingHeight).getDistance();//每个拍子高度
+        double capLiftingHeightSum = (6 - capNum) * capLiftingHeight + 21;
+        //先留一个空位置，不要完全抬升，防止有传感器坏了的情况，使用第二个传感器做校验
+        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.capMotorMove(capLiftingHeightSum);
+        deviceCommandService.sendCommand(commandId, command, deviceCommand);
+    }
+
+    /**
      * 将拍子升降区抬升至可以获取的位置
      */
     public void capUpBalance(String commandId, String command) throws Exception {
@@ -124,6 +178,22 @@ public class CapModuleService {
      *
      * @param num 1为上升1格，-1为下降1格
      */
+    public void capMotorMoveByNumNoWait(String commandId, String command, int num) throws Exception {
+        double capLiftingHeight = devicePositionService.getPosition(DevicePositionCode.capLiftingHeight).getDistance();
+        Double capPosition = gdDeviceStatusService.getStepMotorPostion(StepMotorMId.TRAY_MOTOR_MID);
+        double toCapPosition = capPosition + (num * capLiftingHeight);
+        if (toCapPosition < 0) {
+            throw new AppException(ResultCode.CAP_LIFT_ERROR);
+        }
+        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.capMotorMove(toCapPosition);
+        deviceCommandService.sendCommand(commandId, command, deviceCommand);
+    }
+
+    /**
+     * 调整拍子升降电机位置
+     *
+     * @param num 1为上升1格，-1为下降1格
+     */
     public void capMotorMoveByNum(String commandId, String command, int num) throws Exception {
         double capLiftingHeight = devicePositionService.getPosition(DevicePositionCode.capLiftingHeight).getDistance();
         Double capPosition = gdDeviceStatusService.getStepMotorPostion(StepMotorMId.TRAY_MOTOR_MID);

src/main/java/com/iflytop/gd/app/ws/client/DeviceEmergencyStopConfig.java

@@ -2,6 +2,7 @@ package com.iflytop.gd.app.ws.client;
 
 import com.iflytop.gd.app.core.CommandPoolManager;
 import com.iflytop.gd.app.service.api.CraftsService;
+import com.iflytop.gd.app.service.device.DeviceEmergencyStopService;
 import com.iflytop.gd.app.service.device.DeviceStateService;
 import com.iflytop.gd.app.service.device.DeviceStepCommandService;
 import lombok.RequiredArgsConstructor;
@@ -16,10 +17,8 @@ import java.net.URI;
 @Configuration
 @RequiredArgsConstructor
 public class DeviceEmergencyStopConfig {
-    private final DeviceStepCommandService stepCommandService;
-    private final DeviceStateService deviceStateService;
-    private final CommandPoolManager commandPoolManager;
-    private final CraftsService craftsService;
+    private final DeviceEmergencyStopService deviceEmergencyStopService;
+
 
     @Value("${iflytophald.ip}")
     String ip;
@@ -34,17 +33,13 @@ public class DeviceEmergencyStopConfig {
             if (s.get("event").equals("press")) {
                 log.info("触发急停{}", s);
                 try {
-                    commandPoolManager.forceShutdownAll();//强制终止现在运行的所有指令
-                    craftsService.stopAllCrafts();//停止所有工艺
-                    stepCommandService.stopAll();
-                    deviceStateService.getDeviceState().setEmergencyStop(true);
+                    deviceEmergencyStopService.press();
                 } catch (Exception e) {
                     log.error("设备急停失败:{}", e.getMessage());
                     throw new RuntimeException(e);
                 }
             } else if (s.get("event").equals("release")) {
-                commandPoolManager.restartExecutor();
-                deviceStateService.getDeviceState().setEmergencyStop(false);
+                deviceEmergencyStopService.release();
                 log.info("解除急停{}", s);
             }
         });