不记得改了什么

src/main/java/com/qyft/ms/app/device/spray/SprayTaskExecutor.java

@@ -24,6 +24,7 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
+import java.text.DecimalFormat;
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.List;
@@ -74,8 +75,11 @@ public class SprayTaskExecutor {
                 webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.START, "喷涂任务开始执行"));
                 int reCurrentStep = sprayTask.getCurrentStep();
                 int currentStep = 0; //当前喷涂步骤
+                int sprayCount = 0;
                 int sprayNum = 1;
+                int currentIndex = 0;
                 for (SprayTaskStep sprayTaskStep : sprayTask.getSprayTaskStepList()) {//循环进行多次喷涂
+                    if(!sprayTask.isFirstImmobility()){
                         //先移动到玻片位置
                         DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(slideArr[sprayTaskStep.getIndex()][0], 20.0);
                         DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorYPositionSet(75.5 - slideArr[sprayTaskStep.getIndex()][1], 20.0);
@@ -88,17 +92,25 @@ public class SprayTaskExecutor {
                         DeviceCommand motorZPositionSetAboveSlideCommand = DeviceCommandGenerator.motorZPositionSet(height, 15.0);
                         CommandFuture motorZPositionSetAboveSlideCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZPositionSetAboveSlideCommand);
                         commandWait(motorXPositionSetCommandFuture, motorYPositionSetCommandFuture, motorZPositionSetAboveSlideCommandFuture);
+                    }else{
+                        sprayTask.setFirstImmobility(false);
+                    }
 
                     DeviceCommand syringePumpForwardCommand = DeviceCommandGenerator.syringePumpForward(sprayTask.getSprayParams().getVolume());//推动移动注射泵
                     CommandFuture syringePumpForwardCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpForwardCommand);
                     commandWait(syringePumpForwardCommandFuture);
                     Thread.sleep(100);
-
                     sprayTask.setSuspendable(true);//可以暂停，单次喷涂范围内可以进行暂停
                     deviceStatus.setSuspendable(true);
                     double cacheXPoint = -1;
                     double cacheYPoint = -1;
+                    DecimalFormat df = new DecimalFormat("#.##");
+
                     for (int i = 0; i < sprayTaskStep.getSpraySteps().size(); i++) {//单次喷涂
+                        if(currentIndex != sprayTaskStep.getIndex()) {
+                            sprayNum = 0;
+                            currentIndex = sprayTaskStep.getIndex();
+                        }
                         if (currentStep < reCurrentStep) {
                             currentStep++;
                             continue;
@@ -112,6 +124,9 @@ public class SprayTaskExecutor {
                         double aXPoint = (double) xSprayStepCommands.getParam().get("position");
                         double aYPoint = (double) ySprayStepCommands.getParam().get("position");
 
+                        xSprayStepCommands.getParam().put("position", Double.parseDouble(df.format(aXPoint)));
+                        ySprayStepCommands.getParam().put("position", Double.parseDouble(df.format(aYPoint)));
+
                         if (cacheXPoint != aXPoint) {
                             CommandFuture commandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), xSprayStepCommands);
                             commandFutureList.add(commandFuture);
@@ -123,38 +138,31 @@ public class SprayTaskExecutor {
                             cacheYPoint = aYPoint;
                         }
                         CommandFuture[] commandFutureArray = commandFutureList.toArray(new CommandFuture[0]);
-                        Point2D currentPoint;
-                        Point2D nextPoint = null;
-                        if (i != 0) {
-                            List<DeviceCommand> currentSprayStepCommands = sprayTaskStep.getSpraySteps().get(i - 1);
-                            double currentXPoint = (Double) currentSprayStepCommands.get(0).getParam().get("position") - slideArr[sprayTaskStep.getIndex()][0];
-                            double currentYPoint = 75.5 - (Double) currentSprayStepCommands.get(1).getParam().get("position");
-                            currentPoint = new Point2D(currentXPoint, currentYPoint);
-                            double nextXPoint = (Double) xSprayStepCommands.getParam().get("position") - slideArr[sprayTaskStep.getIndex()][0];
-                            double nextYPoint = 75.5 - (Double) ySprayStepCommands.getParam().get("position");
-                            nextPoint = new Point2D(nextXPoint, nextYPoint);
-                            SprayTaskPointCollectorPushBO sprayTaskPointCollectorPushBO = new SprayTaskPointCollectorPushBO(sprayTask.getCmdId(), sprayTask.getCmdCode(), sprayTaskStep.getIndex(), sprayNum, currentPoint, nextPoint);
+
+                        double currentXPoint = Double.parseDouble(df.format((Double) xSprayStepCommands.getParam().get("position") - slideArr[sprayTaskStep.getIndex()][0]));
+                        double currentYPoint = Double.parseDouble(df.format(75.5 - (Double) ySprayStepCommands.getParam().get("position")));
+                        Point2D currentPoint = new Point2D(currentXPoint, currentYPoint);
+                        SprayTaskPointCollectorPushBO sprayTaskPointCollectorPushBO = new SprayTaskPointCollectorPushBO(sprayTask.getCmdId(), sprayTask.getCmdCode(), sprayTaskStep.getIndex(), sprayNum, sprayCount, currentPoint);
                         webSocketService.pushMsg(WebSocketMessageType.SPRAY_POINT, sprayTaskPointCollectorPushBO);
-                        }
+
                         commandWait(commandFutureArray);
                         currentStep++;
                         sprayTask.setCurrentStep(currentStep);//将当前的喷涂进度缓存
-                        if (nextPoint != null) {
                         //将当前点位缓存
                         SprayTaskSprayed sprayTaskSprayed = new SprayTaskSprayed();
                         sprayTaskSprayed.setNumber(sprayNum);
                         sprayTaskSprayed.setIndex(sprayTaskStep.getIndex());
-                            sprayTaskSprayed.setSprayedPoints(new Point2D(nextPoint.getX(), nextPoint.getY()));
+                        sprayTaskSprayed.setSprayCount(sprayCount);
+                        sprayTaskSprayed.setSprayedPoints(new Point2D(Double.parseDouble(df.format(aXPoint - slideArr[sprayTaskStep.getIndex()][0])), Double.parseDouble(df.format(75.5 - aYPoint))));
                         sprayTask.addSprayTaskSprayed(sprayTaskSprayed);
                     }
-                    }
                     sprayTask.setSuspendable(false);//不可暂停
                     deviceStatus.setSuspendable(false);
 
-
                     DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop();//停止推动注射泵
                     CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpStopCommand);
                     commandWait(syringePumpStopCommandFuture);
+                    sprayCount++;
                     sprayNum++;
                 }
 

src/main/java/com/qyft/ms/app/device/status/SprayTask.java

@@ -45,6 +45,9 @@ public class SprayTask {
      * 当前正在执行的步骤序号
      */
     private volatile int currentStep = 0;
+
+    private volatile boolean firstImmobility = false;
+
     /**
      * 缓存前端的参数
      */
@@ -114,11 +117,11 @@ public class SprayTask {
     public synchronized void addSprayTaskSprayed(SprayTaskSprayed task) {
         LinkedHashSet<Integer> distinctNumbers = new LinkedHashSet<>();
         for (SprayTaskSprayed item : sprayTaskSprayedList) {
-            distinctNumbers.add(item.getNumber());
+            distinctNumbers.add(item.getSprayCount());
         }
-        if (!distinctNumbers.contains(task.getNumber()) && distinctNumbers.size() >= 4) {
+        if (!distinctNumbers.contains(task.getSprayCount()) && distinctNumbers.size() >= 120) {
             Integer oldestNumber = distinctNumbers.iterator().next();
-            sprayTaskSprayedList.removeIf(item -> item.getNumber().equals(oldestNumber));
+            sprayTaskSprayedList.removeIf(item -> item.getSprayCount().equals(oldestNumber));
         }
         sprayTaskSprayedList.add(task);
     }
@@ -131,6 +134,7 @@ public class SprayTask {
         spraying = false;
         sprayTaskStepList.clear();
         currentStep = 0;
+        firstImmobility = false;
         sprayTaskSprayedList.clear();
         cacheParams = null;
     }

src/main/java/com/qyft/ms/app/front/cmd/business/DeviceSelfTest.java

@@ -1,5 +1,6 @@
 package com.qyft.ms.app.front.cmd.business;
 
+import cn.hutool.json.JSONObject;
 import com.qyft.ms.app.device.status.DeviceStatus;
 import com.qyft.ms.app.service.SelfTestService;
 import com.qyft.ms.system.common.annotation.CommandMapping;
@@ -13,7 +14,11 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
+import java.util.ArrayList;
+import java.util.List;
 import java.util.concurrent.CompletableFuture;
+import java.util.concurrent.ExecutionException;
+import java.util.concurrent.TimeUnit;
 
 /**
  * 设备自检指令
@@ -30,27 +35,61 @@ public class DeviceSelfTest extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(FrontCmdControlForm form) {
         return runAsync(() -> {
-            DeviceCommand motorXOriginCommand = DeviceCommandGenerator.motorXOrigin(); // x轴回原点
-            CommandFuture motorXOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXOriginCommand);
+            DeviceCommand overallDeviceStatusGetCommand = DeviceCommandGenerator.overallDeviceStatusGet();
+            CommandFuture overallDeviceStatusGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), overallDeviceStatusGetCommand);
+            commandWait(overallDeviceStatusGetCommandFuture);
 
-            DeviceCommand motorYOriginCommand = DeviceCommandGenerator.motorYOrigin();//y轴回原点
-            CommandFuture motorYOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYOriginCommand);
+            CommandFuture motorXOriginCommandFuture = null;
+            CommandFuture motorYOriginCommandFuture = null;
+            CommandFuture motorZOriginCommandFuture = null;
 
+            List<CommandFuture> futureList = new ArrayList<>();
+            if (!overallDeviceStatusGetCommandFuture.getResponseResult().getJSONObject("data").getBool("xAxisAtOrigin")) {
+                DeviceCommand motorXOriginCommand = DeviceCommandGenerator.motorXOrigin(); // x轴回原点
+                motorXOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXOriginCommand);
+                futureList.add(motorXOriginCommandFuture);
+            }
+            if (!overallDeviceStatusGetCommandFuture.getResponseResult().getJSONObject("data").getBool("yAxisAtOrigin")) {
+                DeviceCommand motorYOriginCommand = DeviceCommandGenerator.motorYOrigin();//y轴回原点
+                motorYOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYOriginCommand);
+                futureList.add(motorYOriginCommandFuture);
+            }
+            if (!overallDeviceStatusGetCommandFuture.getResponseResult().getJSONObject("data").getBool("zAxisAtOrigin")) {
                 DeviceCommand motorZOriginCommand = DeviceCommandGenerator.motorZOrigin();//z轴回原点
-            CommandFuture motorZOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZOriginCommand);
-            commandWait(motorXOriginCommandFuture, motorYOriginCommandFuture, motorZOriginCommandFuture);
-            try {
+                motorZOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZOriginCommand);
+                futureList.add(motorZOriginCommandFuture);
+            }
+            CommandFuture[] commandFutureArray = futureList.toArray(new CommandFuture[0]);
+            commandWait(commandFutureArray);
+            boolean selfTestCompleted = true;
+            if (motorXOriginCommandFuture != null) {
                 if (motorXOriginCommandFuture.getResponseResult().getBool("success")) {
                     selfTestService.getSelfTestStatus().setXAxisAtOrigin(true);
+                } else {
+                    selfTestCompleted = false;
                 }
+            }
+
+            if (motorYOriginCommandFuture != null) {
                 if (motorYOriginCommandFuture.getResponseResult().getBool("success")) {
                     selfTestService.getSelfTestStatus().setYAxisAtOrigin(true);
+                } else {
+                    selfTestCompleted = false;
+                }
             }
+
+            if (motorZOriginCommandFuture != null) {
                 if (motorZOriginCommandFuture.getResponseResult().getBool("success")) {
                     selfTestService.getSelfTestStatus().setZAxisAtOrigin(true);
+                } else {
+                    selfTestCompleted = false;
+                }
             }
+
+            if (selfTestCompleted) {
                 deviceStatus.setSelfTestCompleted(true);
-            } catch (Exception ignored) {
+            } else {
+                throw new RuntimeException("自检未完成");
             }
         });
     }

src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayContinue.java

@@ -37,7 +37,9 @@ public class MatrixSprayContinue extends BaseCommandHandler {
             throw new RuntimeException("设备没有正在喷涂");
         }
         sprayTask.setSpraying(true);
+        sprayTask.setPaused(false);
         deviceStatus.setSpraying(true);
+        deviceStatus.setPaused(false);
 
         return runAsync(() -> {
             DeviceCommand threeWayValveOpenSyringePipelineCommand = DeviceCommandGenerator.threeWayValveOpenSyringePipeline();//打开三通阀喷嘴管路
@@ -57,6 +59,7 @@ public class MatrixSprayContinue extends BaseCommandHandler {
                 CommandFuture highVoltageOpenCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), highVoltageOpenCommand);
                 commandWait(highVoltageOpenCommandFuture);
             }
+            sprayTask.setFirstImmobility(true);
             sprayTaskExecutor.startTask();
         });
 

src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayStop.java

@@ -4,11 +4,14 @@ import com.qyft.ms.app.device.spray.SprayTaskExecutor;
 import com.qyft.ms.app.device.status.DeviceStatus;
 import com.qyft.ms.app.device.status.SprayTask;
 import com.qyft.ms.system.common.annotation.CommandMapping;
+import com.qyft.ms.system.common.constant.CommandStatus;
 import com.qyft.ms.system.common.device.command.CommandFuture;
 import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
+import com.qyft.ms.system.common.device.command.FrontResponseGenerator;
 import com.qyft.ms.system.core.handler.BaseCommandHandler;
 import com.qyft.ms.system.model.bo.DeviceCommand;
 import com.qyft.ms.system.model.form.FrontCmdControlForm;
+import com.qyft.ms.system.service.WebSocketService;
 import com.qyft.ms.system.service.device.DeviceCommandService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -29,6 +32,7 @@ public class MatrixSprayStop extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
     private final SprayTaskExecutor sprayTaskExecutor;
     private final DeviceStatus deviceStatus;
+    private final WebSocketService webSocketService;
 
     @Override
     public CompletableFuture<Void> handle(FrontCmdControlForm form) {
@@ -36,6 +40,7 @@ public class MatrixSprayStop extends BaseCommandHandler {
         if (!sprayTask.isSpraying()) {
             throw new RuntimeException("设备没有正在喷涂");
         }
+        webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SPRAY_TASK_FINISH, "喷涂任务结束"));
         SprayTask.getInstance().clear();
         deviceStatus.setSpraying(false);
         deviceStatus.setPaused(false);

src/main/java/com/qyft/ms/app/model/bo/SprayTaskPointCollectorPushBO.java

@@ -21,20 +21,21 @@ public class SprayTaskPointCollectorPushBO {
      */
     Integer number;
     /**
-     * 当前点位坐标
+     * 总喷涂计数
      */
-    Point2D currentPoint;
+    Integer sprayCount;
     /**
-     * 下一个点位坐标
+     * 当前点位坐标
      */
-    Point2D nextPoint;
+    Point2D currentPoint;
+
 
-    public SprayTaskPointCollectorPushBO(String cmdId, String cmdCode, Integer index, Integer number, Point2D currentPoint, Point2D nextPoint) {
+    public SprayTaskPointCollectorPushBO(String cmdId, String cmdCode, Integer index, Integer number, Integer sprayCount, Point2D currentPoint) {
         this.cmdId = cmdId;
         this.cmdCode = cmdCode;
         this.index = index;
         this.number = number;
+        this.sprayCount = sprayCount;
         this.currentPoint = currentPoint;
-        this.nextPoint = nextPoint;
     }
 }

src/main/java/com/qyft/ms/app/model/bo/SprayTaskSprayed.java

@@ -16,6 +16,10 @@ public class SprayTaskSprayed {
      */
     Integer number;
     /**
+     * 总喷涂计数
+     */
+    Integer sprayCount;
+    /**
      * 已喷涂点位
      */
     private volatile Point2D sprayedPoints;

src/main/java/com/qyft/ms/system/common/device/command/CommandFuture.java

@@ -7,6 +7,7 @@ import lombok.Setter;
 import java.util.concurrent.CompletableFuture;
 import java.util.concurrent.ExecutionException;
 
+@Setter
 @Getter
 public class CommandFuture {
     /**
@@ -16,11 +17,9 @@ public class CommandFuture {
     /**
      * 用于保存response反馈
      */
-    private final CompletableFuture<JSONObject> responseFuture = new CompletableFuture<>();
+    private CompletableFuture<JSONObject> responseFuture = new CompletableFuture<>();
 
-    @Setter
     private long startSendTime;
-    @Setter
     private long endSendTime;
 
     /**

src/main/java/com/qyft/ms/system/controller/FrontCmdController.java

@@ -42,6 +42,10 @@ public class FrontCmdController {
                     return Result.failed("未进行自检，无法执行业务指令");
                 }
             }
+            if(deviceStatus.isStopPressed()){
+                log.error("设备急停中");
+                return Result.failed("设备急停中");
+            }
             webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(cmdId, cmdCode, CommandStatus.RECEIVE, "已收到业务指令请求，开始处理"));
             CommandHandler commandHandler = registry.getHandler(cmdCode);
             if (commandHandler == null) {

src/main/java/com/qyft/ms/system/core/handler/BaseCommandHandler.java

@@ -8,7 +8,6 @@ import com.qyft.ms.system.functions.CommandHandler;
 
 import java.util.Arrays;
 import java.util.concurrent.CompletableFuture;
-import java.util.concurrent.ExecutionException;
 import java.util.concurrent.TimeUnit;
 
 public abstract class BaseCommandHandler implements CommandHandler {
@@ -18,7 +17,7 @@ public abstract class BaseCommandHandler implements CommandHandler {
     }
 
 
-    protected void commandWait(CommandFuture... futures) throws ExecutionException, InterruptedException {
+    protected void commandWait(CommandFuture... futures) throws Exception {
         CompletableFuture<?>[] responseFutures = Arrays.stream(futures)
                 .map(CommandFuture::getResponseFuture)
                 .toArray(CompletableFuture[]::new);

src/main/java/com/qyft/ms/system/core/listener/DeviceTcpMessageEventListener.java

@@ -1,6 +1,9 @@
 package com.qyft.ms.system.core.listener;
 
 import cn.hutool.json.JSONObject;
+import com.qyft.ms.app.device.spray.SprayTaskExecutor;
+import com.qyft.ms.app.device.status.DeviceStatus;
+import com.qyft.ms.app.device.status.SprayTask;
 import com.qyft.ms.system.core.event.DeviceTcpMessageEvent;
 import com.qyft.ms.system.service.device.DeviceCommandService;
 import lombok.extern.slf4j.Slf4j;
@@ -12,14 +15,30 @@ import org.springframework.stereotype.Component;
 public class DeviceTcpMessageEventListener {
 
     private final DeviceCommandService deviceCommandService;
+    private final DeviceStatus deviceStatus;
+    private final SprayTaskExecutor sprayTaskExecutor;
 
-    public DeviceTcpMessageEventListener(DeviceCommandService deviceCommandService) {
+    public DeviceTcpMessageEventListener(DeviceCommandService deviceCommandService, DeviceStatus deviceStatus, SprayTaskExecutor sprayTaskExecutor) {
         this.deviceCommandService = deviceCommandService;
+        this.deviceStatus = deviceStatus;
+        this.sprayTaskExecutor = sprayTaskExecutor;
     }
 
     @EventListener
     public void handleDeviceTcpMessageEvent(DeviceTcpMessageEvent event) {
         JSONObject deviceResult = event.getDeviceResult();
+        String tag = deviceResult.getStr("tag");
+        String eventType = deviceResult.getStr("event_type");
+        if ("system_e_stop_pressed".equals(eventType)) {//系统急停按钮被按下
+            sprayTaskExecutor.stopTask();//终止喷涂任务线程
+            SprayTask.getInstance().clear();
+            deviceStatus.setSpraying(false);
+            deviceStatus.setPaused(false);
+            deviceStatus.setSuspendable(false);
+            deviceStatus.setStopPressed(true);
+        } else if ("system_e_stop_released".equals(eventType)) {//系统急停按钮被释放
+            deviceStatus.setStopPressed(false);
+        }
         deviceCommandService.handleDeviceResult(deviceResult);
     }
 }

src/main/java/com/qyft/ms/system/service/device/DeviceCommandService.java

@@ -2,6 +2,7 @@ package com.qyft.ms.system.service.device;
 
 import cn.hutool.json.JSONObject;
 import cn.hutool.json.JSONUtil;
+import com.qyft.ms.app.device.spray.SprayTaskExecutor;
 import com.qyft.ms.app.device.status.DeviceStatus;
 import com.qyft.ms.system.common.constant.CommandStatus;
 import com.qyft.ms.system.common.device.command.CommandFuture;
@@ -26,7 +27,6 @@ public class DeviceCommandService {
     private final ConcurrentMap<Integer, CommandFuture> commandFutureMap = new ConcurrentHashMap<>();
 
     private final DeviceTcpClient deviceTcpClient;
-    private final DeviceStatus deviceStatus;
     private final WebSocketService webSocketService;
 
 
@@ -110,12 +110,7 @@ public class DeviceCommandService {
             log.info("RESPONSE {}", JSONUtil.toJsonStr(deviceResult));
             completeCommandResponse(deviceResult);
         } else if ("EVENT".equals(tag)) {
-            String eventType = deviceResult.getStr("event_type");
-            if ("system_e_stop_pressed".equals(eventType)) {//系统急停按钮被按下
-                deviceStatus.setStopPressed(true);
-            } else if ("system_e_stop_released".equals(eventType)) {//系统急停按钮被释放
-                deviceStatus.setStopPressed(false);
-            }
+
         } else if ("STATUS".equals(tag)) {
 
         }