fix:优化调整

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

@@ -1,8 +1,14 @@
 package com.qyft.ms.app.controller;
 
+import cn.hutool.json.JSONObject;
 import com.qyft.ms.app.device.status.DeviceStatus;
+import com.qyft.ms.app.model.bo.Point3D;
 import com.qyft.ms.app.model.vo.SelfTestVO;
+import com.qyft.ms.system.common.device.command.CommandFuture;
+import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
 import com.qyft.ms.system.common.result.Result;
+import com.qyft.ms.system.model.bo.DeviceCommand;
+import com.qyft.ms.system.service.device.DeviceCommandService;
 import io.swagger.v3.oas.annotations.Operation;
 import io.swagger.v3.oas.annotations.tags.Tag;
 import lombok.RequiredArgsConstructor;
@@ -11,6 +17,10 @@ import org.springframework.web.bind.annotation.PostMapping;
 import org.springframework.web.bind.annotation.RequestMapping;
 import org.springframework.web.bind.annotation.RestController;
 
+import java.util.Arrays;
+import java.util.concurrent.CompletableFuture;
+import java.util.concurrent.TimeUnit;
+
 /**
  * 测试用
  */
@@ -21,6 +31,7 @@ import org.springframework.web.bind.annotation.RestController;
 @Slf4j
 public class TestController {
     private final DeviceStatus deviceStatus;
+    private final DeviceCommandService deviceCommandService;
 
     @Operation(summary = "启动虚拟模式")
     @PostMapping("/virtual")
@@ -36,4 +47,27 @@ public class TestController {
         deviceStatus.setSelfTestCompleted(true);
         return Result.success();
     }
+
+    @Operation(summary = "获取当前xyz位置")
+    @PostMapping("/get-xyz")
+    public Result<Point3D> getXyz() throws Exception {
+        DeviceCommand motorXyzPositionGetCommand = DeviceCommandGenerator.motorXyzPositionGet(); // 生成获得电机XYZ相对原点坐标指令
+        CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommandNoFront(motorXyzPositionGetCommand);
+        commandWait(motorXyzPositionGetCommandFuture);
+        JSONObject motorXyzPositionGetCommandDeviceResult = motorXyzPositionGetCommandFuture.getResponseResult();
+        Double xAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("xAxisPosition");
+        Double yAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("yAxisPosition");
+        Double zAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("zAxisPosition");
+        Point3D point3D = new Point3D(xAxisPosition, yAxisPosition, zAxisPosition);
+
+        return Result.success(point3D);
+    }
+
+    protected void commandWait(CommandFuture... futures) throws Exception {
+        CompletableFuture<?>[] responseFutures = Arrays.stream(futures)
+                .map(CommandFuture::getResponseFuture)
+                .toArray(CompletableFuture[]::new);
+        CompletableFuture.allOf(responseFutures)
+                .get(120, TimeUnit.SECONDS);
+    }
 }

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

@@ -83,6 +83,7 @@ public class SprayTaskExecutor {
                     int sprayNum = 1; //当前玻片是第几次喷涂
                     for (SprayTimes sprayTimes : sprayTaskParam.getTimes()) {//每个拨片有多次喷涂，循环每次喷涂
                         if (sprayNum < sprayTask.getSprayNum()) {
+                            sprayNum++;
                             continue;
                         }
                         sprayTask.setSprayTimes(sprayTimes);
@@ -91,7 +92,7 @@ public class SprayTaskExecutor {
                         List<SprayTaskStep> sprayTaskStepList = getSprayPath(sprayTaskParam.getIndex(), sprayTimes);//计算本次喷涂的路线
                         //先移动到玻片左上角位置
                         DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(slideArr[sprayTaskParam.getIndex()][0], 20.0);
-                        DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorYPositionSet(75.5 - slideArr[sprayTaskParam.getIndex()][1], 20.0);
+                        DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorYPositionSet(slideArr[sprayTaskParam.getIndex()][1], 20.0);
                         CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXPositionSetCommand);
                         CommandFuture motorYPositionSetCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYPositionSetCommand);
 
@@ -151,7 +152,7 @@ public class SprayTaskExecutor {
                                     cacheXPoint = currentPoint.x;
                                 }
                                 if (cacheYPoint != currentPoint.y) {
-                                    DeviceCommand deviceCommand = DeviceCommandGenerator.motorXPositionSet(slide[1] + currentPoint.y, sprayTimes.getMovingSpeed());
+                                    DeviceCommand deviceCommand = DeviceCommandGenerator.motorYPositionSet(slide[1] + currentPoint.y, sprayTimes.getMovingSpeed());
                                     CommandFuture commandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), deviceCommand);
                                     commandFutureList.add(commandFuture);
                                     cacheYPoint = currentPoint.y;