feat:计算喷涂剩余时间

src/main/java/com/qyft/ms/app/common/constant/WebSocketMessageType.java

@@ -18,6 +18,10 @@ public class WebSocketMessageType {
      */
     public static final String SPRAY_POINT = "spray_point";
     /**
+     * 喷涂预计完成时间
+     */
+    public static final String SPRAY_TASK_FINISH_TIME = "spray_task_finish_time";
+    /**
      * 传感器
      */
     public static final String SENSOR = "sensor";

src/main/java/com/qyft/ms/app/controller/SprayTaskController.java

@@ -31,6 +31,7 @@ public class SprayTaskController {
         sprayTaskStatusVO.setCmdCode(sprayTask.getCmdCode());
         sprayTaskStatusVO.setSprayTaskSprayedList(sprayTask.getSprayTaskSprayedList());
         sprayTaskStatusVO.setSprayTaskParams(sprayTask.getSprayTaskParams());
+        sprayTaskStatusVO.setFinishTime(sprayTask.getFinishTimeMap());
         return Result.success(sprayTaskStatusVO);
     }
 

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

@@ -16,6 +16,7 @@ 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.common.utils.TimeUtils;
 import com.qyft.ms.system.model.bo.DeviceCommand;
 import com.qyft.ms.system.service.WebSocketService;
 import com.qyft.ms.system.service.device.DeviceCommandService;
@@ -24,9 +25,9 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.List;
+import java.time.Duration;
+import java.time.LocalDateTime;
+import java.util.*;
 import java.util.concurrent.CompletableFuture;
 import java.util.concurrent.CopyOnWriteArrayList;
 import java.util.concurrent.ExecutionException;
@@ -74,6 +75,10 @@ public class SprayTaskExecutor {
         taskThread = new Thread(() -> {
             try {
                 webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.START, "喷涂任务开始执行"));
+                //计算剩余时间
+                List<Map<String, Object>> finishTimeMap = estimateCompletionTimePerSlide();
+                webSocketService.pushMsg(WebSocketMessageType.SPRAY_TASK_FINISH_TIME, finishTimeMap);//向前端推送当前路径
+                sprayTask.setFinishTimeMap(finishTimeMap);
                 List<SprayTaskParams> sprayTaskParams = sprayTask.getSprayTaskParams();
                 for (SprayTaskParams sprayTaskParam : sprayTaskParams) {//循环玻片
                     if (sprayTask.getCurrentIndex() != null && sprayTaskParam.getIndex() < sprayTask.getCurrentIndex()) {//喷涂过的玻片跳过
@@ -107,7 +112,7 @@ public class SprayTaskExecutor {
                             SysSettings slideHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper<SysSettings>().eq(SysSettings::getCode, "slide_height"));
                             Double slideHeight = Double.parseDouble(slideHeightSysSettings.getValue());
                             Double height = slideHeight - sprayTimes.getMotorZHeight();//下降z轴高度
-                            DeviceCommand motorZPositionSetAboveSlideCommand = DeviceCommandGenerator.motorZPositionSet(height, 15.0);
+                            DeviceCommand motorZPositionSetAboveSlideCommand = DeviceCommandGenerator.motorZPositionSet(height, 20.0);
                             CommandFuture motorZPositionSetAboveSlideCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZPositionSetAboveSlideCommand);
                             commandWait(motorXPositionSetCommandFuture, motorYPositionSetCommandFuture, motorZPositionSetAboveSlideCommandFuture);
                         }
@@ -305,6 +310,128 @@ public class SprayTaskExecutor {
         return sprayTaskStepList;
     }
 
+    /**
+     * 返回一个 List，每个元素对应 sprayTaskParams 中每个玻片的预计耗时（毫秒），
+     */
+    public List<Map<String, Object>> estimateCompletionTimePerSlide() {
+        SprayTask task = SprayTask.getInstance();
+        List<SprayTaskParams> params = task.getSprayTaskParams();
+        int resumeIndex = task.getCurrentIndex() == null ? 0 : task.getCurrentIndex();
+        int resumeSprayNum = task.getSprayNum();
+
+        // 常量
+        final long COMMAND_LATENCY_MS = 12;// 指令往返平均耗时(ms)
+        final double HOME_SPEED_X = 20;// 回原点速度 X 轴 (mm/s)
+        final double HOME_SPEED_Y = 20;// 回原点速度 Y 轴 (mm/s)
+        final double HOME_SPEED_Z = 20;// 回原点速度 Z 轴 (mm/s)
+        final long PER_SPRAY_OVERHEAD_MS = 1;// 每次喷涂固定附加时间(ms)
+        final long TOTAL_JOB_OVERHEAD_MS = 1;// 全局附加时间(ms)
+
+        double slideHeight = Double.parseDouble(
+                sysSettingsService.getOne(
+                                new LambdaQueryWrapper<SysSettings>()
+                                        .eq(SysSettings::getCode, "slide_height"))
+                        .getValue()
+        );
+
+        LocalDateTime startTime = LocalDateTime.now();
+        List<Map<String, Object>> finishTimeMap = new ArrayList<>(params.size());
+
+        long cumulativeMs = 0;
+        for (int i = 0; i < params.size(); i++) {
+            SprayTaskParams p = params.get(i);
+            int idx = p.getIndex();
+            // 如果此玻片已在之前完成，直接添加当前累计时间
+            if (idx < resumeIndex) {
+                Map<String, Object> ft = new HashMap<>();
+                ft.put("index", p.getIndex());
+                ft.put("finishTime", startTime.plus(Duration.ofMillis(cumulativeMs)));
+                finishTimeMap.add(ft);
+                continue;
+            }
+
+            long sliceMs = 0;
+            // 1) 移到玻片起点 + 下降
+            Double[] slide = slideArr[idx];
+            SprayTimes firstT = p.getTimes().get(0);
+            sliceMs += moveMs(0, slide[0], firstT.getMovingSpeed(), COMMAND_LATENCY_MS);
+            sliceMs += moveMs(0, slide[1], firstT.getMovingSpeed(), COMMAND_LATENCY_MS);
+            double targetZ = slideHeight - firstT.getMotorZHeight();
+            sliceMs += moveMs(0, targetZ, 20, COMMAND_LATENCY_MS);
+
+            // 2) 管路切换 & 等待（已在中途恢复时跳过）
+            boolean switched = (idx == resumeIndex && resumeSprayNum > 1);
+            if (!switched) {
+                sliceMs += COMMAND_LATENCY_MS + 500;//500是切换注射器固定等待时间
+            }
+
+            // 3) 喷涂循环
+            double curX = slide[0], curY = slide[1];
+            int sprayCount = 1;
+            for (SprayTimes t : p.getTimes()) {
+                // 跳过已完成的喷涂轮次
+                if (idx == resumeIndex && sprayCount < resumeSprayNum) {
+                    // grid 模式双计数
+                    if ("grid".equals(t.getMatrixPathType())) sprayCount++;
+                    sprayCount++;
+                    continue;
+                }
+                // 开阀/泵/高压指令
+                sliceMs += COMMAND_LATENCY_MS * 3;
+                if (t.getHighVoltage()) sliceMs += COMMAND_LATENCY_MS * 2;
+                // 路径移动
+                for (SprayTaskStep step : getSprayPath(t)) {
+                    for (Point2D pt : step.getSprayPathPointList()) {
+                        double nx = slide[0] + pt.getX();
+                        double ny = slide[1] + pt.getY();
+                        sliceMs += moveMs(curX, nx, t.getMovingSpeed(), COMMAND_LATENCY_MS);
+                        curX = nx;
+                        sliceMs += moveMs(curY, ny, t.getMovingSpeed(), COMMAND_LATENCY_MS);
+                        curY = ny;
+                    }
+                    // 结束阀门指令 + grid 延时
+                    sliceMs += COMMAND_LATENCY_MS * 3;
+                    if ("grid".equals(t.getMatrixPathType()) && t.getGridDelay() != null) {
+                        sliceMs += t.getGridDelay() * 1000;
+                    }
+                }
+                // 喷涂后延时 + 附加时间
+                sliceMs += t.getDelay() * 1000;
+                sliceMs += PER_SPRAY_OVERHEAD_MS;
+                sprayCount++;
+            }
+
+            // 4) 回原点
+            sliceMs += moveMs(curX, 0, HOME_SPEED_X, COMMAND_LATENCY_MS);
+            sliceMs += moveMs(curY, 0, HOME_SPEED_Y, COMMAND_LATENCY_MS);
+            sliceMs += moveMs(targetZ, 0, HOME_SPEED_Z, COMMAND_LATENCY_MS);
+
+            // 累计并加全局附加
+            cumulativeMs += sliceMs;
+            if (i == params.size() - 1) cumulativeMs += TOTAL_JOB_OVERHEAD_MS;
+            Map<String, Object> ft = new HashMap<>();
+            ft.put("index", p.getIndex());
+            ft.put("finishTime", TimeUtils.toEpochMilli(startTime.plus(Duration.ofMillis(cumulativeMs))));
+            finishTimeMap.add(ft);
+        }
+
+        return finishTimeMap;
+    }
+
+    /**
+     * 计算单轴移动耗时 + 指令平均延迟
+     *
+     * @param from     起始坐标 (mm)
+     * @param to       目标坐标 (mm)
+     * @param speed    运动速度 (mm/s)
+     * @param cmdDelay 每条指令往返延迟 (ms)
+     */
+    private long moveMs(double from, double to, double speed, long cmdDelay) {
+        double dist = Math.abs(to - from);
+        return (long) (dist / speed * 1000) + cmdDelay;
+    }
+
+
     private void delay(long millisecond) throws InterruptedException {
         delay(null, millisecond);
     }

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

@@ -8,6 +8,7 @@ import lombok.Data;
 
 import java.util.ArrayList;
 import java.util.List;
+import java.util.Map;
 
 @Data
 public class SprayTask {
@@ -64,7 +65,10 @@ public class SprayTask {
      * 已喷涂点位
      */
     private volatile List<SprayTaskSprayed> sprayTaskSprayedList = new ArrayList<>();
-
+    /**
+     * 喷涂任务预计剩余时间
+     */
+    private List<Map<String, Object>> finishTimeMap = null;
     /**
      * 标志喷涂任务暂停
      */
@@ -104,6 +108,7 @@ public class SprayTask {
         operationLogId = null;
         remainingGridDelay = null;
         remainingDelay = null;
+        finishTimeMap = null;
         sprayTaskSprayedList.clear();
     }
 

src/main/java/com/qyft/ms/app/model/vo/SprayTaskStatusVO.java

@@ -13,25 +13,19 @@ import java.util.Map;
  */
 @Data
 public class SprayTaskStatusVO {
-    /**
-     * 前端指令id
-     */
+
     private String cmdId;
-    /**
-     * 前端指令code
-     */
+
     private String cmdCode;
-    /**
-     * 已喷涂点位
-     */
+
     @Schema(description = "已喷涂点位")
     private volatile List<SprayTaskSprayed> sprayTaskSprayedList;
 
-    /**
-     * 喷涂参数
-     */
     @Schema(description = "喷涂参数")
     private List<SprayTaskParams> sprayTaskParams;
 
+    @Schema(description = "喷涂任务预计剩余时间")
+    private List<Map<String, Object>> finishTime;
+
 
 }

src/main/java/com/qyft/ms/system/common/utils/TimeUtils.java

@@ -0,0 +1,26 @@
+package com.qyft.ms.system.common.utils;
+
+import java.time.LocalDateTime;
+import java.time.ZoneId;
+
+public class TimeUtils {
+    /**
+     * 将 LocalDateTime 转为毫秒级时间戳，使用系统默认时区
+     */
+    public static long toEpochMilli(LocalDateTime ldt) {
+        return ldt
+                .atZone(ZoneId.systemDefault())  // LocalDateTime → ZonedDateTime（系统默认时区）
+                .toInstant()                     // ZonedDateTime → Instant
+                .toEpochMilli();                 // Instant → 毫秒时间戳
+    }
+
+    /**
+     * 将 LocalDateTime 转为秒级时间戳，使用系统默认时区
+     */
+    public static long toEpochSecond(LocalDateTime ldt) {
+        return ldt
+                .atZone(ZoneId.systemDefault())
+                .toInstant()
+                .getEpochSecond();
+    }
+}