fix:喷涂时每个操作指令增加互斥逻辑判断

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

@@ -1,7 +1,6 @@
 package com.qyft.ms.app.device.status;
 
 import cn.hutool.json.JSONObject;
-import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import lombok.Data;
 import org.springframework.stereotype.Component;
 

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

@@ -38,6 +38,10 @@ public class SprayTask {
      */
     private volatile boolean suspendable = false;
     /**
+     * 是否正在结束
+     */
+    private volatile boolean closing = false;
+    /**
      * 设备是否正在进行的喷涂任务
      */
     private volatile boolean spraying = false;

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

@@ -36,10 +36,11 @@ public class MatrixSprayChangeParam extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(FrontCmdControlForm form) {
         SprayTask sprayTask = SprayTask.getInstance();
-        if (!sprayTask.isSpraying()) {//判断设备是否正在喷涂
-            webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_ERROR, "未开始喷涂无法修改"));
-            throw new RuntimeException("未开始喷涂无法修改");
+        if (!sprayTask.isSpraying() || sprayTask.isClosing()) {//判断设备是否正在喷涂
+            webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_ERROR, "目前无法修改喷涂参数"));
+            throw new RuntimeException("目前无法修改喷涂参数");
         }
+
         Double motorZHeight = form.getDoubleParam("motorZHeight");
         Double gasPressure = form.getDoubleParam("gasPressure");
         Double volume = form.getDoubleParam("volume");

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

@@ -34,7 +34,7 @@ public class MatrixSprayPause extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(FrontCmdControlForm form) {
         SprayTask sprayTask = SprayTask.getInstance();
-        if (!sprayTask.isSuspendable()) {
+        if (!sprayTask.isSuspendable() || sprayTask.isClosing()) {
             throw new RuntimeException("当前喷涂任务不可暂停");
         }
         sprayTask.setPaused(true);//已暂停

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

@@ -314,14 +314,32 @@ public class MatrixSprayStart extends BaseCommandHandler {
             }
         }
         return runAsync(() -> {
-            //XYZ回原点
-            DeviceCommand motorXOriginCommand = DeviceCommandGenerator.motorXOrigin();
-            DeviceCommand motorYOriginCommand = DeviceCommandGenerator.motorYOrigin();
-            DeviceCommand motorZOriginCommand = DeviceCommandGenerator.motorZOrigin();
-            CommandFuture motorXOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXOriginCommand);
-            CommandFuture motorYOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYOriginCommand);
-            CommandFuture motorZOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZOriginCommand);
-            commandWait(motorXOriginCommandFuture, motorYOriginCommandFuture, motorZOriginCommandFuture);
+            DeviceCommand overallDeviceStatusGetCommand = DeviceCommandGenerator.overallDeviceStatusGet();
+            CommandFuture overallDeviceStatusGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), overallDeviceStatusGetCommand);
+            commandWait(overallDeviceStatusGetCommandFuture);
+
+            CommandFuture motorXOriginCommandFuture;
+            CommandFuture motorYOriginCommandFuture;
+            CommandFuture motorZOriginCommandFuture;
+
+            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
+                motorZOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZOriginCommand);
+                futureList.add(motorZOriginCommandFuture);
+            }
+            CommandFuture[] commandFutureArray = futureList.toArray(new CommandFuture[0]);
+            commandWait(commandFutureArray);
 
             DeviceCommand threeWayValveOpenSyringePipelineCommand = DeviceCommandGenerator.threeWayValveOpenSyringePipeline();//打开三通阀喷嘴管路
             CommandFuture threeWayValveOpenSyringePipelineCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), threeWayValveOpenSyringePipelineCommand);

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

@@ -17,6 +17,8 @@ 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;
 
 /**
@@ -40,38 +42,49 @@ public class MatrixSprayStop extends BaseCommandHandler {
         if (!sprayTask.isSpraying()) {
             throw new RuntimeException("设备没有正在喷涂");
         }
+        if(sprayTask.isClosing()){
+            throw new RuntimeException("正在结束喷涂，请稍后");
+        }
         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);
-        deviceStatus.setSuspendable(false);
+
         return runAsync(() -> {
-            sprayTaskExecutor.stopTask();//终止喷涂任务线程
+            sprayTask.setClosing(true);
+            try{
+                sprayTaskExecutor.stopTask();//终止喷涂任务线程
+
+                DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop(); //停止推动注射泵
+                CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpStopCommand);
+                DeviceCommand nozzleValveCloseCommand = DeviceCommandGenerator.nozzleValveClose(); //关闭喷嘴阀
+                CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleValveCloseCommand);
+                DeviceCommand highVoltageCloseCommand = DeviceCommandGenerator.highVoltageClose(); //关闭高压
+                CommandFuture highVoltageCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), highVoltageCloseCommand);
+                commandWait(syringePumpStopCommandFuture, nozzleValveCloseCommandFuture, highVoltageCloseCommandFuture);
+
+                DeviceCommand motorXStopCommand = DeviceCommandGenerator.motorXStop(); //x轴停止移动
+                DeviceCommand motorYStopCommand = DeviceCommandGenerator.motorYStop(); //y轴停止移动
+                DeviceCommand motorZStopCommand = DeviceCommandGenerator.motorZStop(); //z轴停止移动
+                CommandFuture motorXStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXStopCommand);
+                CommandFuture motorYStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYStopCommand);
+                CommandFuture motorZStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZStopCommand);
+                commandWait(motorXStopCommandFuture, motorYStopCommandFuture, motorZStopCommandFuture);
 
-            DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop(); //停止推动注射泵
-            CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpStopCommand);
-            DeviceCommand nozzleValveCloseCommand = DeviceCommandGenerator.nozzleValveClose(); //关闭喷嘴阀
-            CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleValveCloseCommand);
-            DeviceCommand highVoltageCloseCommand = DeviceCommandGenerator.highVoltageClose(); //关闭高压
-            CommandFuture highVoltageCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), highVoltageCloseCommand);
-            commandWait(syringePumpStopCommandFuture, nozzleValveCloseCommandFuture, highVoltageCloseCommandFuture);
+                //XYZ回原点
+                DeviceCommand motorXOriginCommand = DeviceCommandGenerator.motorXOrigin();
+                DeviceCommand motorYOriginCommand = DeviceCommandGenerator.motorYOrigin();
+                DeviceCommand motorZOriginCommand = DeviceCommandGenerator.motorZOrigin();
+                CommandFuture motorXOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXOriginCommand);
+                CommandFuture motorYOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYOriginCommand);
+                CommandFuture motorZOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZOriginCommand);
+                commandWait(motorXOriginCommandFuture, motorYOriginCommandFuture, motorZOriginCommandFuture);
 
-            DeviceCommand motorXStopCommand = DeviceCommandGenerator.motorXStop(); //x轴停止移动
-            DeviceCommand motorYStopCommand = DeviceCommandGenerator.motorYStop(); //y轴停止移动
-            DeviceCommand motorZStopCommand = DeviceCommandGenerator.motorZStop(); //z轴停止移动
-            CommandFuture motorXStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXStopCommand);
-            CommandFuture motorYStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYStopCommand);
-            CommandFuture motorZStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZStopCommand);
-            commandWait(motorXStopCommandFuture, motorYStopCommandFuture, motorZStopCommandFuture);
+                SprayTask.getInstance().clear();
+                deviceStatus.setSpraying(false);
+                deviceStatus.setPaused(false);
+                deviceStatus.setSuspendable(false);
+            }finally {
+                sprayTask.setClosing(false);
+            }
 
-            //XYZ回原点
-            DeviceCommand motorXOriginCommand = DeviceCommandGenerator.motorXOrigin();
-            DeviceCommand motorYOriginCommand = DeviceCommandGenerator.motorYOrigin();
-            DeviceCommand motorZOriginCommand = DeviceCommandGenerator.motorZOrigin();
-            CommandFuture motorXOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXOriginCommand);
-            CommandFuture motorYOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYOriginCommand);
-            CommandFuture motorZOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZOriginCommand);
-            commandWait(motorXOriginCommandFuture, motorYOriginCommandFuture, motorZOriginCommandFuture);
         });
     }
 }

src/main/java/com/qyft/ms/system/core/client/DeviceTcpClient.java

@@ -111,7 +111,7 @@ public class DeviceTcpClient {
      */
     public boolean send(String request) {
         if (channel != null && channel.isActive()) {
-//            log.info("向设备发送TCP指令：{}", request);
+            log.info("向设备发送TCP指令：{}", request);
             channel.writeAndFlush(Unpooled.copiedBuffer(request, CharsetUtil.UTF_8));
             return true;
         } else {

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

@@ -24,6 +24,7 @@ public class DeviceTcpMessageEventListener {
     @EventListener
     public void handleDeviceTcpMessageEvent(DeviceTcpMessageEvent event) {
         JSONObject deviceResult = event.getDeviceResult();
+        log.info("设备反馈信息{}", JSONUtil.toJsonStr(deviceResult));
         String tag = deviceResult.getStr("tag");
         if ("ACK".equals(tag)) {
             log.info("ACK {}", JSONUtil.toJsonStr(deviceResult));