fix:开启关闭喷嘴阀需要延迟10秒

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

@@ -173,10 +173,7 @@ public class SprayTaskExecutor {
                             CommandFuture highVoltageCloseCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), highVoltageCloseCommand);
                             DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop(); //停止推动注射泵
                             CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpStopCommand);
-                            delay(10 * 1000L);
-                            DeviceCommand nozzleValveCloseCommand = DeviceCommandGenerator.nozzleValveClose(); //关闭喷嘴阀
-                            CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), nozzleValveCloseCommand);
-                            commandWait(syringePumpStopCommandFuture, nozzleValveCloseCommandFuture, highVoltageCloseCommandFuture);
+                            commandWait(syringePumpStopCommandFuture, highVoltageCloseCommandFuture);
 
                             sprayTask.setCurrentCountSprayNum(sprayTask.getCurrentCountSprayNum() + 1);
                             if ("grid".equals(sprayTimes.getMatrixPathType()) && sprayTimes.getGridDelay() != null) {
@@ -196,10 +193,16 @@ public class SprayTaskExecutor {
                 DeviceCommand highVoltageCloseCommand = DeviceCommandGenerator.highVoltageClose();//关闭高压
                 CommandFuture highVoltageCloseCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), highVoltageCloseCommand);
                 commandWait(highVoltageCloseCommandFuture);
-                Thread.sleep(500);
-                DeviceCommand nozzleValveCloseCommand = DeviceCommandGenerator.nozzleValveClose();//关闭喷嘴阀
+                CompletableFuture<Void> nozzleCloseFuture = CompletableFuture.runAsync(() -> {
+                    try {
+                        Thread.sleep(10 * 1000L);
+                        DeviceCommand nozzleValveCloseCommand = DeviceCommandGenerator.nozzleValveClose(); //关闭喷嘴阀
                         CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), nozzleValveCloseCommand);
                         commandWait(nozzleValveCloseCommandFuture);
+                    } catch (Exception e) {
+                        throw new RuntimeException(e);
+                    }
+                });
                 sprayTask.setCannotPause(true);//喷涂完毕后就是回原点了，期间不可暂停
 
                 //XYZ回原点
@@ -210,7 +213,7 @@ public class SprayTaskExecutor {
                 CommandFuture motorYOriginCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYOriginCommand);
                 CommandFuture motorZOriginCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZOriginCommand);
                 commandWait(motorXOriginCommandFuture, motorYOriginCommandFuture, motorZOriginCommandFuture);
-
+                nozzleCloseFuture.get();
                 OperationLog operationLog = operationLogService.getById(sprayTask.getOperationLogId());
                 operationLog.setStatus(1);
                 operationLogService.updateById(operationLog);

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

@@ -49,17 +49,27 @@ public class MatrixSprayStop extends BaseCommandHandler {
         webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SPRAY_TASK_FINISH, "喷涂任务结束"));
 
         return runAsync(() -> {
-            try{
+            try {
                 sprayTask.setClose(true);
                 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);
+
+                CompletableFuture<Void> nozzleCloseFuture = CompletableFuture.runAsync(() -> {
+                    try {
+                        Thread.sleep(10 * 1000L);
                         DeviceCommand nozzleValveCloseCommand = DeviceCommandGenerator.nozzleValveClose(); //关闭喷嘴阀
                         CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleValveCloseCommand);
+                        commandWait(nozzleValveCloseCommandFuture);
+                    } catch (Exception e) {
+                        throw new RuntimeException(e);
+                    }
+                });
+
                 DeviceCommand highVoltageCloseCommand = DeviceCommandGenerator.highVoltageClose(); //关闭高压
                 CommandFuture highVoltageCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), highVoltageCloseCommand);
-                commandWait(syringePumpStopCommandFuture, nozzleValveCloseCommandFuture, highVoltageCloseCommandFuture);
+                commandWait(syringePumpStopCommandFuture, highVoltageCloseCommandFuture);
 
                 DeviceCommand motorXStopCommand = DeviceCommandGenerator.motorXStop(); //x轴停止移动
                 DeviceCommand motorYStopCommand = DeviceCommandGenerator.motorYStop(); //y轴停止移动
@@ -81,7 +91,8 @@ public class MatrixSprayStop extends BaseCommandHandler {
                 CommandFuture motorYOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYOriginCommand);
                 CommandFuture motorZOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZOriginCommand);
                 commandWait(motorXOriginCommandFuture, motorYOriginCommandFuture, motorZOriginCommandFuture);
-            }finally {
+                nozzleCloseFuture.get();
+            } finally {
                 sprayTask.clear();
                 deviceStatus.setSpraying(false);
                 deviceStatus.setPaused(false);