fix:修复第二次喷涂无法结束的问题

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

@@ -198,19 +198,22 @@ public class SprayTaskExecutor {
 
                 webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SUCCESS, "喷涂任务执行成功"));
                 webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SPRAY_TASK_FINISH, "喷涂任务结束"));
+
+                sprayTask.clear();
+                deviceStatus.setSpraying(false);//是否正在进行喷涂
+                deviceStatus.setPaused(false);//是否暂停
             } catch (InterruptedException e) {
                 webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SEND, "喷涂任务线程停止"));
             } 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"));
                 webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SPRAY_TASK_FINISH, "喷涂任务结束"));
-            } finally {
-                webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SEND, "喷涂任务线程退出"));
-                if(sprayTask.isPaused()){//如果不是暂停状态的话则清空数据
+
                 sprayTask.clear();
                 deviceStatus.setSpraying(false);//是否正在进行喷涂
                 deviceStatus.setPaused(false);//是否暂停
-                }
+            } finally {
+                webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SEND, "喷涂任务线程退出"));
                 // 在线程结束后将 taskThread 设置为 null，保证状态一致和资源释放
                 synchronized (this) {
                     taskThread = null;

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

@@ -76,6 +76,7 @@ public class SprayTask {
         cmdId = null;
         cmdCode = null;
         paused = false;
+        close = false;
         spraying = false;
         currentStep = 0;
         sprayTaskParams = null;

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

@@ -49,6 +49,7 @@ 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{
                 sprayTask.setClose(true);
                 sprayTaskExecutor.stopTask();//终止喷涂任务线程
 
@@ -80,10 +81,11 @@ 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();
+            }finally {
+                sprayTask.clear();
                 deviceStatus.setSpraying(false);
                 deviceStatus.setPaused(false);
+            }
         });
     }
 }