fix:喷涂过程中推送点位定时采集改为固定点位推送

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

@@ -1,20 +1,23 @@
 package com.qyft.ms.app.device.spray;
 
-import cn.hutool.json.JSONObject;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.qyft.ms.app.common.constant.WebSocketMessageType;
 import com.qyft.ms.app.device.status.DeviceStatus;
 import com.qyft.ms.app.device.status.SprayTask;
 import com.qyft.ms.app.model.bo.Point2D;
+import com.qyft.ms.app.model.bo.SprayTaskPointCollectorPushBO;
 import com.qyft.ms.app.model.bo.SprayTaskSprayed;
 import com.qyft.ms.app.model.bo.SprayTaskStep;
+import com.qyft.ms.app.model.entity.Position;
 import com.qyft.ms.app.model.entity.SysSettings;
+import com.qyft.ms.app.service.PositionService;
 import com.qyft.ms.app.service.SysSettingsService;
 import com.qyft.ms.system.common.device.command.CommandFuture;
 import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
 import com.qyft.ms.system.model.bo.DeviceCommand;
 import com.qyft.ms.system.service.WebSocketService;
 import com.qyft.ms.system.service.device.DeviceCommandService;
+import jakarta.annotation.PostConstruct;
 import lombok.RequiredArgsConstructor;
 import org.springframework.stereotype.Component;
 
@@ -33,8 +36,25 @@ public class SprayTaskExecutor {
     private final SprayTaskPointCollector sprayTaskPointCollector;
     private final SysSettingsService sysSettingsService;
     private final DeviceStatus deviceStatus;
+    private final PositionService positionService;
 
     private Thread taskThread;
+    private Double[][] slideArr;
+
+    @PostConstruct
+    private void init() {
+        Position slidePosition1 = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "slide_position1"));
+        Position slidePosition2 = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "slide_position2"));
+        Position slidePosition3 = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "slide_position3"));
+        Position slidePosition4 = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "slide_position4"));
+        slideArr = new Double[][]{
+                {slidePosition1.getX(), slidePosition1.getY()},
+                {slidePosition2.getX(), slidePosition2.getY()},
+                {slidePosition3.getX(), slidePosition3.getY()},
+                {slidePosition4.getX(), slidePosition4.getY()}
+        };
+    }
+
 
     /**
      * 启动任务线程，如果线程已存在且正在运行则不重复启动
@@ -89,29 +109,40 @@ public class SprayTaskExecutor {
                     List<Point2D> sprayStepList = new ArrayList<>();
                     sprayTask.setSuspendable(true);//可以暂停，单次喷涂范围内可以进行暂停
                     deviceStatus.setSuspendable(true);
-                    for (List<DeviceCommand> sprayStepCommands : sprayTaskStep.getSpraySteps()) {//单次喷涂
-                        if (reCurrentStep < currentStep) {
+                    for (int i = 0; i < sprayTaskStep.getSpraySteps().size(); i++) {//单次喷涂
+                        if (currentStep < reCurrentStep) {
                             break;
                         }
+                        List<DeviceCommand> sprayStepCommands = sprayTaskStep.getSpraySteps().get(i);
                         List<CommandFuture> commandFutureList = new ArrayList<>();
                         for (DeviceCommand sprayStep : sprayStepCommands) {
                             CommandFuture commandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), sprayStep);
                             commandFutureList.add(commandFuture);
                         }
+
                         CommandFuture[] commandFutureArray = commandFutureList.toArray(new CommandFuture[0]);
-                        sprayTaskPointCollector.startCollecting(sprayTaskStep.getIndex()); //开启点位推送
+//                        sprayTaskPointCollector.startCollecting(sprayTaskStep.getIndex()); //开启点位推送
+
+                        Point2D currentPoint = null;
+                        try {
+                            List<DeviceCommand> currentSprayStepCommands = sprayTaskStep.getSpraySteps().get(i - 1);
+                            double currentXPoint = (Double) currentSprayStepCommands.get(0).getParam().get("position") - slideArr[sprayTaskStep.getIndex()][0];
+                            double currentYPoint = 75.5 - (Double) currentSprayStepCommands.get(1).getParam().get("position");
+                            currentPoint = new Point2D(currentXPoint, currentYPoint);
+                        } catch (Exception ignored) {
+                        }
+
+                        double nextXPoint = (Double) sprayStepCommands.get(0).getParam().get("position") - slideArr[sprayTaskStep.getIndex()][0];
+                        double nextYPoint = 75.5 - (Double) sprayStepCommands.get(1).getParam().get("position");
+                        Point2D nextPoint = new Point2D(nextXPoint, nextYPoint);
+                        SprayTaskPointCollectorPushBO sprayTaskPointCollectorPushBO = new SprayTaskPointCollectorPushBO(sprayTaskStep.getIndex(), currentPoint, nextPoint);
+                        webSocketService.pushMsg(WebSocketMessageType.SPRAY_POINT, sprayTaskPointCollectorPushBO);
                         commandWait(commandFutureArray);
-                        sprayTaskPointCollector.stopCollecting();//关闭点位推送
+//                        sprayTaskPointCollector.stopCollecting();//关闭点位推送
                         currentStep++;
                         sprayTask.setCurrentStep(currentStep);//将当前的喷涂进度缓存
                         //将当前点位缓存
-                        DeviceCommand motorXyzPositionGetCommand = DeviceCommandGenerator.motorXyzPositionGet(); //生成电机XYZ相对原点坐标指令
-                        CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXyzPositionGetCommand);
-                        commandWait(motorXyzPositionGetCommandFuture);
-                        JSONObject motorXyzPositionGetCommandResult = motorXyzPositionGetCommandFuture.getResponseResult();
-                        Double xAxisPosition = motorXyzPositionGetCommandResult.getDouble("xAxisPosition");
-                        Double yAxisPosition = motorXyzPositionGetCommandResult.getDouble("yAxisPosition");
-                        sprayStepList.add(new Point2D(xAxisPosition, yAxisPosition));
+                        sprayStepList.add(new Point2D(nextXPoint, nextYPoint));
                     }
                     sprayTask.setSuspendable(false);//不可暂停
                     deviceStatus.setSuspendable(false);

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

@@ -40,7 +40,7 @@ public class SprayTaskPointCollector {
 
     private Double[][] slideArr;
 
-    @PostConstruct
+//    @PostConstruct
     private void init() {
         Position slidePosition1 = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "slide_position1"));
         Position slidePosition2 = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "slide_position2"));
@@ -75,23 +75,23 @@ public class SprayTaskPointCollector {
     }
 
     private void collectPoints() {
-        try {
-            if (SprayTask.getInstance().isPaused()) {
-                stopCollecting();
-            }
-            DeviceCommand motorXyzPositionGetCommand = DeviceCommandGenerator.motorXyzPositionGet(); //生成电机XYZ相对原点坐标指令
-            CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommandNoFront(motorXyzPositionGetCommand);
-            JSONObject motorXyzPositionGetCommandResult = motorXyzPositionGetCommandFuture.getResponseResult();
-            Double xAxisPosition = motorXyzPositionGetCommandResult.getDouble("xAxisPosition");
-            Double yAxisPosition = motorXyzPositionGetCommandResult.getDouble("yAxisPosition");
-            xAxisPosition = xAxisPosition - slideArr[currentSprayIndex][0];
-            yAxisPosition = 75.5 - yAxisPosition;
-            Point2D point2D = new Point2D(xAxisPosition, yAxisPosition);
-            SprayTaskPointCollectorPushBO sprayTaskPointCollectorPushBO = new SprayTaskPointCollectorPushBO(currentSprayIndex, point2D);
-            log.info("喷涂点位采集，采集到点位:{}", JSONUtil.toJsonStr(sprayTaskPointCollectorPushBO));
-            webSocketService.pushMsg(WebSocketMessageType.SPRAY_POINT, sprayTaskPointCollectorPushBO);
-        } catch (Exception e) {
-            log.error("喷涂点位采集发生错误", e);
-        }
+//        try {
+//            if (SprayTask.getInstance().isPaused()) {
+//                stopCollecting();
+//            }
+//            DeviceCommand motorXyzPositionGetCommand = DeviceCommandGenerator.motorXyzPositionGet(); //生成电机XYZ相对原点坐标指令
+//            CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommandNoFront(motorXyzPositionGetCommand);
+//            JSONObject motorXyzPositionGetCommandResult = motorXyzPositionGetCommandFuture.getResponseResult();
+//            Double xAxisPosition = motorXyzPositionGetCommandResult.getDouble("xAxisPosition");
+//            Double yAxisPosition = motorXyzPositionGetCommandResult.getDouble("yAxisPosition");
+//            xAxisPosition = xAxisPosition - slideArr[currentSprayIndex][0];
+//            yAxisPosition = 75.5 - yAxisPosition;
+//            Point2D point2D = new Point2D(xAxisPosition, yAxisPosition);
+//            SprayTaskPointCollectorPushBO sprayTaskPointCollectorPushBO = new SprayTaskPointCollectorPushBO(currentSprayIndex, point2D);
+//            log.info("喷涂点位采集，采集到点位:{}", JSONUtil.toJsonStr(sprayTaskPointCollectorPushBO));
+//            webSocketService.pushMsg(WebSocketMessageType.SPRAY_POINT, sprayTaskPointCollectorPushBO);
+//        } catch (Exception e) {
+//            log.error("喷涂点位采集发生错误", e);
+//        }
     }
 }

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

@@ -274,6 +274,7 @@ public class MatrixSprayStart extends BaseCommandHandler {
                 }
 
             }
+//            log.info(JSONUtil.toJsonStr(sprayTask.getSprayTaskStepList()));
             // 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/model/bo/Point2D.java

@@ -8,5 +8,7 @@ public class Point2D {
     private double y;
 
     public Point2D(double x, double y) {
+        this.x = x;
+        this.y = y;
     }
 }

src/main/java/com/qyft/ms/app/model/bo/SprayTaskPointCollectorPushBO.java

@@ -1,5 +1,6 @@
 package com.qyft.ms.app.model.bo;
 
+import com.fasterxml.jackson.annotation.JsonInclude;
 import lombok.Data;
 
 @Data
@@ -9,12 +10,17 @@ public class SprayTaskPointCollectorPushBO {
      */
     Integer index;
     /**
-     * 点位坐标
+     * 当前点位坐标
      */
-    Point2D point;
+    Point2D currentPoint;
+    /**
+     * 下一个点位坐标
+     */
+    Point2D nextPoint;
 
-    public SprayTaskPointCollectorPushBO(Integer index, Point2D point) {
+    public SprayTaskPointCollectorPushBO(Integer index, Point2D currentPoint, Point2D nextPoint) {
         this.index = index;
-        this.point = point;
+        this.currentPoint = currentPoint;
+        this.nextPoint = nextPoint;
     }
 }

src/main/java/com/qyft/ms/system/core/server/WebSocketServer.java

@@ -23,11 +23,11 @@ public class WebSocketServer {
      */
     public static void sendMessageToClients(String message) {
         synchronized (sendLock) {
+            log.info("发送消息给客户端：{}", message);
             for (Session session : sessions) {
                 if (session.isOpen()) {
                     try {
                         session.getBasicRemote().sendText(message);
-                        log.info("发送消息给客户端(sessionId={})：{}", session.getId(), message);
                     } catch (Exception e) {
                         log.error("发送消息失败，sessionId={}", session.getId(), e);
                     }