fix:因编码器问题获取xyz轴坐标为负数，取绝对值

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

@@ -48,7 +48,7 @@ public class MatrixSprayChangeParam extends BaseCommandHandler {
         Double highVoltageValue = form.getDoubleParam("highVoltageValue");
         Double movingSpeed = form.getDoubleParam("movingSpeed");
 
-        if (highVoltageValue > 6000) {
+        if (highVoltageValue!= null && highVoltageValue > 6000) {
             webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_ERROR, "电压不能大于6000V"));
             throw new RuntimeException("电压不能大于6000V");
         }

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

@@ -134,7 +134,7 @@ public class MatrixSprayStart extends BaseCommandHandler {
         List<Map<String, Object>> positionList = (List<Map<String, Object>>) form.getParams().get("position");
 
         nonNullCheck(matrixPathType, form.getCmdId(), form.getCmdCode(), motorZHeight, gasPressure, volume, highVoltage, spacing, movingSpeed, times, positionList);
-        if (highVoltageValue > 6000) {
+        if (highVoltageValue != null && highVoltageValue > 6000) {
             webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_ERROR, "电压不能大于6000V"));
             throw new RuntimeException("电压不能大于6000V");
         }
@@ -341,7 +341,7 @@ public class MatrixSprayStart extends BaseCommandHandler {
             CommandFuture[] commandFutureArray = futureList.toArray(new CommandFuture[0]);
             commandWait(commandFutureArray);
 
-            DeviceCommand threeWayValveOpenSyringePipelineCommand = DeviceCommandGenerator.threeWayValveOpenSyringePipeline();//打开三通阀喷嘴管路
+            DeviceCommand threeWayValveOpenSyringePipelineCommand = DeviceCommandGenerator.threeWayValveOpenNozzlePipeline();//打开三通阀注射器管路
             CommandFuture threeWayValveOpenSyringePipelineCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), threeWayValveOpenSyringePipelineCommand);
             commandWait(threeWayValveOpenSyringePipelineCommandFuture);
 

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

@@ -64,6 +64,7 @@ public class NozzlePipelinePreFill extends BaseCommandHandler {
                 webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_ERROR, "获得电机XYZ相对原点坐标失败"));
                 throw new RuntimeException("获得电机XYZ相对原点坐标失败");
             }
+            zAxisPosition = Math.abs(zAxisPosition);
             SysSettings safeZHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper<SysSettings>().eq(SysSettings::getCode, "safe_z_height"));
             double safeZHeight = Double.parseDouble(safeZHeightSysSettings.getValue());
             if (zAxisPosition > safeZHeight) { //z轴超出安全距离，抬升z轴

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

@@ -56,6 +56,7 @@ public class NozzlePipelineWash extends BaseCommandHandler {
                     webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_ERROR, "获得电机XYZ相对原点坐标失败", motorXyzPositionGetCommandDeviceResult));
                     throw new RuntimeException("获得电机XYZ相对原点坐标失败");
                 }
+                zAxisPosition = Math.abs(zAxisPosition);
                 SysSettings safeZHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper<SysSettings>().eq(SysSettings::getCode, "safe_z_height"));
                 double safeZHeight = Double.parseDouble(safeZHeightSysSettings.getValue());
                 if (zAxisPosition > safeZHeight) { //z轴超出安全距离，抬升z轴

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

@@ -65,6 +65,7 @@ public class SyringePipelineWash extends BaseCommandHandler {
                     webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_ERROR, "获得电机XYZ相对原点坐标失败", motorXyzPositionGetCommandDeviceResult));
                     throw new RuntimeException("获得电机XYZ相对原点坐标失败");
                 }
+                zAxisPosition = Math.abs(zAxisPosition);
                 SysSettings safeZHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper<SysSettings>().eq(SysSettings::getCode, "safe_z_height"));
                 double safeZHeight = Double.parseDouble(safeZHeightSysSettings.getValue());
                 if (zAxisPosition > safeZHeight) { //z轴超出安全距离，抬升z轴

src/main/java/com/qyft/ms/app/front/cmd/debug/MotorXMove.java

@@ -38,7 +38,7 @@ public class MotorXMove extends BaseCommandHandler {
 
             JSONObject motorXyzPositionGetCommandResult = motorXyzPositionGetCommandFuture.getResponseResult();
             Double xAxisPosition = motorXyzPositionGetCommandResult.getJSONObject("data").getDouble("xAxisPosition");
-
+            xAxisPosition = Math.abs(xAxisPosition);
             // 计算目标位置
             double finalPosition = 0.0;
             if ("forward".equals(direction)) {

src/main/java/com/qyft/ms/app/front/cmd/debug/MotorYMove.java

@@ -37,7 +37,7 @@ public class MotorYMove extends BaseCommandHandler {
             commandWait(motorXyzPositionGetCommandFuture);
             JSONObject motorXyzPositionGetCommandDeviceResult = motorXyzPositionGetCommandFuture.getResponseResult();
             Double yAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("yAxisPosition");
-
+            yAxisPosition = Math.abs(yAxisPosition);
             // 计算目标位置
             double finalPosition = 0.0;
             if ("forward".equals(direction)) {

src/main/java/com/qyft/ms/app/front/cmd/debug/MotorZMove.java

@@ -38,7 +38,7 @@ public class MotorZMove extends BaseCommandHandler {
             commandWait(motorXyzPositionGetCommandFuture);
             JSONObject motorXyzPositionGetCommandDeviceResult = motorXyzPositionGetCommandFuture.getResponseResult();
             Double zAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("zAxisPosition");
-
+            zAxisPosition = Math.abs(zAxisPosition);
             // 根据方向计算最终位置
             double finalPosition = 0.0;
             if ("forward".equals(direction)) {

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

@@ -40,6 +40,7 @@ public class DeviceTcpMessageEventListener {
                 deviceStatus.setPaused(false);
                 deviceStatus.setSuspendable(false);
                 deviceStatus.setStopPressed(true);
+                deviceStatus.setSelfTestCompleted(false);
                 deviceCommandService.releaseAllCommandFutures();
             } else if ("system_e_stop_released".equals(eventType)) {//系统急停按钮被释放
                 deviceStatus.setStopPressed(false);

src/main/resources/application.yml

@@ -40,9 +40,9 @@ jwt:
 tcp:
   enable: true    # 是否开启 TCP 连接
   server-enable: true    # 是否开启 TCP 连接
-  #  host: 127.0.0.1
+  host: 127.0.0.1
   #  host: 192.168.1.106
-  host: 192.168.1.140
+#  host: 192.168.1.140
   #  host: 192.168.100.168
   port: 9080
   reconnect: 5000  # 断线重连间隔（单位：毫秒）