fix:修复中断线程时同时中断了ws链接的问题

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

@@ -68,6 +68,9 @@ public class SprayTaskExecutor {
             webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.ERROR, "设备正在喷涂，请先停止喷涂"));
             return;
         }
+        sprayTask.setSpraying(true);
+        deviceStatus.setSpraying(true);
+
         taskThread = new Thread(() -> {
             try {
                 webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.START, "喷涂任务开始执行"));
@@ -140,7 +143,7 @@ public class SprayTaskExecutor {
                             sprayTaskSprayed.setNumber(sprayNum);
                             sprayTaskSprayed.setIndex(sprayTaskStep.getIndex());
                             sprayTaskSprayed.setSprayedPoints(new Point2D(nextPoint.getX(), nextPoint.getY()));
-                            sprayTask.getSprayTaskSprayedList().add(sprayTaskSprayed);
+                            sprayTask.addSprayTaskSprayed(sprayTaskSprayed);
                         }
                     }
                     sprayTask.setSuspendable(false);//不可暂停
@@ -179,9 +182,8 @@ public class SprayTaskExecutor {
                 deviceStatus.setPaused(false);
                 deviceStatus.setSuspendable(false);
             } catch (InterruptedException e) {
-                deviceStatus.setSuspendable(false);
+                sprayTask.setPaused(true);
                 webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SEND, "喷涂任务线程停止"));
-                Thread.currentThread().interrupt();
             } catch (Exception e) {
                 log.info("喷涂任务失败", e);
                 webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.FAIL, "喷涂任务执行失败"));

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

@@ -110,6 +110,14 @@ public class SprayTask {
         sprayParams.setPositionList(positionList);
     }
 
+    public synchronized void addSprayTaskSprayed(SprayTaskSprayed task) {
+        if (sprayTaskSprayedList.size() >= 200) {
+            // 删除最旧的元素
+            sprayTaskSprayedList.remove(0);
+        }
+        sprayTaskSprayedList.add(task);
+    }
+
     public void clear() {
         cmdId = null;
         cmdCode = null;

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

@@ -40,13 +40,13 @@ public class DeviceSelfTest extends BaseCommandHandler {
             CommandFuture motorZOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZOriginCommand);
             commandWait(motorXOriginCommandFuture, motorYOriginCommandFuture, motorZOriginCommandFuture);
             try {
-                if (motorXOriginCommandFuture.getResponseResult().getBool("status")) {
+                if (motorXOriginCommandFuture.getResponseResult().getBool("success")) {
                     selfTestService.getSelfTestStatus().setXAxisAtOrigin(true);
                 }
-                if (motorYOriginCommandFuture.getResponseResult().getBool("status")) {
+                if (motorYOriginCommandFuture.getResponseResult().getBool("success")) {
                     selfTestService.getSelfTestStatus().setYAxisAtOrigin(true);
                 }
-                if (motorZOriginCommandFuture.getResponseResult().getBool("status")) {
+                if (motorZOriginCommandFuture.getResponseResult().getBool("success")) {
                     selfTestService.getSelfTestStatus().setZAxisAtOrigin(true);
                 }
                 deviceStatus.setSelfTestCompleted(true);

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

@@ -117,12 +117,10 @@ public class MatrixSprayStart extends BaseCommandHandler {
         if (sprayTask.isSpraying()) {//判断设备是否正在喷涂
             webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.ERROR, "设备正在喷涂，请先停止喷涂"));
             throw new RuntimeException("设备正在喷涂，请先停止喷涂");
-        } else {
-            sprayTask.setSpraying(true);
-            deviceStatus.setSpraying(true);
-            sprayTask.setCmdId(form.getCmdId());
-            sprayTask.setCmdCode(form.getCmdCode());
         }
+        sprayTask.setCmdId(form.getCmdId());
+        sprayTask.setCmdCode(form.getCmdCode());
+
         // 1. 参数校验
         String matrixPathType = form.getStringParam("matrixPathType");
         Double motorZHeight = form.getDoubleParam("motorZHeight");
@@ -334,7 +332,6 @@ public class MatrixSprayStart extends BaseCommandHandler {
             CommandFuture nozzleValveOpenCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), nozzleValveOpenCommand);
             commandWait(nozzleValveOpenCommandFuture);
 
-
             // 10. 启动喷涂线程，开始喷涂
             sprayTaskExecutor.startTask();
             webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.SEND, "已开启喷涂线程"));

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

@@ -32,6 +32,10 @@ public class MatrixSprayStop extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(FrontCmdControlForm form) {
+        SprayTask.getInstance().clear();
+        deviceStatus.setSpraying(false);
+        deviceStatus.setPaused(false);
+        deviceStatus.setSuspendable(false);
         return runAsync(() -> {
             sprayTaskExecutor.stopTask();//终止喷涂任务线程
 
@@ -59,11 +63,6 @@ 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);
-
-            SprayTask.getInstance().clear();
-            deviceStatus.setSpraying(false);
-            deviceStatus.setPaused(false);
-            deviceStatus.setSuspendable(false);
         });
     }
 }