feat:新增喷涂点位推送

src/main/java/com/qyft/ms/app/config/SchedulerConfig.java

@@ -0,0 +1,19 @@
+package com.qyft.ms.app.config;
+
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+import org.springframework.scheduling.TaskScheduler;
+import org.springframework.scheduling.concurrent.ThreadPoolTaskScheduler;
+
+@Configuration
+public class SchedulerConfig {
+
+    @Bean
+    public TaskScheduler sprayPointCollectorScheduler() {
+        ThreadPoolTaskScheduler scheduler = new ThreadPoolTaskScheduler();
+        scheduler.setPoolSize(1);
+        scheduler.setThreadNamePrefix("spray-point-collector-");
+        return scheduler;
+    }
+
+}

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

@@ -24,6 +24,7 @@ import java.util.concurrent.TimeUnit;
 public class SprayTaskExecutor {
     private final WebSocketService webSocketService;
     private final DeviceCommandService deviceCommandService;
+    private final SprayTaskPointCollector sprayTaskPointCollector;
 
     private Thread taskThread;
 
@@ -67,8 +68,8 @@ public class SprayTaskExecutor {
                 }
 
                 int reCurrentStep = sprayTask.getCurrentStep();
-                int currentStep = 0;
-
+                int currentStep = 0; //当前喷涂步骤
+                int currentSprayIndex = 0; //喷涂计数
                 for (List<List<DeviceCommand>> deviceCommandList : sprayTask.getSpraySteps()) {//循环进行多次喷涂
 
                     DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen();//开启喷嘴阀
@@ -89,9 +90,9 @@ public class SprayTaskExecutor {
                             commandFutureList.add(commandFuture);
                         }
                         CommandFuture[] commandFutureArray = commandFutureList.toArray(new CommandFuture[0]);
-                        //TODO开启点位推送
+                        sprayTaskPointCollector.startCollecting(currentSprayIndex); //开启点位推送
                         commandWait(commandFutureArray);
-                        //TODO关闭点位推送
+                        sprayTaskPointCollector.stopCollecting();//关闭点位推送
                         currentStep++;
                         sprayTask.setCurrentStep(currentStep);//将当前的喷涂进度缓存
                         //将当前点位缓存
@@ -103,6 +104,7 @@ public class SprayTaskExecutor {
                         Double yAxisPosition = motorXyzPositionGetCommandResult.getDouble("yAxisPosition");
                         sprayStepList.add(new Point2D(xAxisPosition, yAxisPosition));
                     }
+                    currentSprayIndex++;
                     sprayTask.setSuspendable(false);//不可暂停
                     sprayTask.getSprayedPoints().add(sprayStepList);
 

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

@@ -0,0 +1,69 @@
+package com.qyft.ms.app.device.spray;
+
+import cn.hutool.json.JSONObject;
+import com.qyft.ms.app.common.constant.WebSocketMessageType;
+import com.qyft.ms.app.model.bo.Point2D;
+import com.qyft.ms.app.model.bo.SprayTaskPointCollectorPushBO;
+import com.qyft.ms.system.common.device.command.CommandFuture;
+import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
+import com.qyft.ms.system.model.bo.DeviceCommand;
+import com.qyft.ms.system.service.WebSocketService;
+import com.qyft.ms.system.service.device.DeviceCommandService;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.scheduling.TaskScheduler;
+import org.springframework.stereotype.Component;
+
+import java.time.Duration;
+import java.time.Instant;
+import java.util.concurrent.ScheduledFuture;
+
+@Slf4j
+@Component
+@RequiredArgsConstructor
+public class SprayTaskPointCollector {
+    private final WebSocketService webSocketService;
+    private final DeviceCommandService deviceCommandService;
+
+    private final TaskScheduler taskScheduler;
+
+    private ScheduledFuture<?> scheduledFuture;
+
+    private int currentSprayIndex;
+
+
+    public void startCollecting(int currentSprayIndex) {
+        if (scheduledFuture == null || scheduledFuture.isCancelled()) {
+            this.currentSprayIndex = currentSprayIndex;
+            // 每隔 100 毫秒执行一次采集任务
+            scheduledFuture = taskScheduler.scheduleAtFixedRate(
+                    this::collectPoints,
+                    Instant.now(),
+                    Duration.ofMillis(100)
+            );
+            log.info("喷涂点位采集任务已启动");
+        }
+    }
+
+    public void stopCollecting() {
+        if (scheduledFuture != null) {
+            scheduledFuture.cancel(false);
+            log.info("喷涂点位采集任务已停止");
+        }
+    }
+
+    private void collectPoints() {
+        try {
+            DeviceCommand motorXyzPositionGetCommand = DeviceCommandGenerator.motorXyzPositionGet(); //生成电机XYZ相对原点坐标指令
+            CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(motorXyzPositionGetCommand);
+            JSONObject motorXyzPositionGetCommandResult = motorXyzPositionGetCommandFuture.getResponseResult();
+            Double xAxisPosition = motorXyzPositionGetCommandResult.getDouble("xAxisPosition");
+            Double yAxisPosition = motorXyzPositionGetCommandResult.getDouble("yAxisPosition");
+            Point2D point2D = new Point2D(xAxisPosition, yAxisPosition);
+            SprayTaskPointCollectorPushBO sprayTaskPointCollectorPushBO = new SprayTaskPointCollectorPushBO(currentSprayIndex, point2D);
+            webSocketService.pushMsg(WebSocketMessageType.SPRAY_POINT, sprayTaskPointCollectorPushBO);
+        } catch (Exception e) {
+            log.error("喷涂任务点位采集错误", e);
+        }
+    }
+}

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

@@ -0,0 +1,14 @@
+package com.qyft.ms.app.model.bo;
+
+import lombok.Data;
+
+@Data
+public class SprayTaskPointCollectorPushBO {
+    Integer index;
+    Point2D point;
+
+    public SprayTaskPointCollectorPushBO(Integer index,Point2D point) {
+        this.index = index;
+        this.point = point;
+    }
+}