fix:回原点逻辑修改，停止清洗停止基质预充也应当停止xyz轴移动

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

@@ -1,8 +1,13 @@
 package com.qyft.ms.app.controller;
 
+import com.qyft.ms.app.device.status.DeviceStatus;
 import com.qyft.ms.app.model.vo.SelfTestVO;
 import com.qyft.ms.app.service.SelfTestService;
+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 +16,10 @@ import org.springframework.web.bind.annotation.GetMapping;
 import org.springframework.web.bind.annotation.RequestMapping;
 import org.springframework.web.bind.annotation.RestController;
 
+import java.util.concurrent.ExecutionException;
+import java.util.concurrent.TimeUnit;
+import java.util.concurrent.TimeoutException;
+
 @Tag(name = "自检")
 @RestController
 @RequestMapping("/api/self-test")
@@ -18,10 +27,26 @@ import org.springframework.web.bind.annotation.RestController;
 @Slf4j
 public class SelfTestController {
     private final SelfTestService selfTestService;
+    private final DeviceCommandService deviceCommandService;
+    private final DeviceStatus deviceStatus;
 
     @Operation(summary = "获取自检状态")
     @GetMapping("/")
-    public Result<SelfTestVO> getSelfTestStatus() {
+    public Result<SelfTestVO> getSelfTestStatus() throws ExecutionException, InterruptedException, TimeoutException {
+        DeviceCommand overallDeviceStatusGetCommand = DeviceCommandGenerator.overallDeviceStatusGet();
+        CommandFuture overallDeviceStatusGetCommandFuture = deviceCommandService.sendCommandNoFront(overallDeviceStatusGetCommand);
+        overallDeviceStatusGetCommandFuture.getResponseFuture().get(5, TimeUnit.SECONDS);
+        boolean xAxisAtOrigin = overallDeviceStatusGetCommandFuture.getResponseResult().getJSONObject("data").getBool("xAxisAtOrigin");
+        boolean yAxisAtOrigin = overallDeviceStatusGetCommandFuture.getResponseResult().getJSONObject("data").getBool("yAxisAtOrigin");
+        boolean zAxisAtOrigin = overallDeviceStatusGetCommandFuture.getResponseResult().getJSONObject("data").getBool("zAxisAtOrigin");
+
+        selfTestService.getSelfTestStatus().setXAxisAtOrigin(xAxisAtOrigin);
+        selfTestService.getSelfTestStatus().setYAxisAtOrigin(yAxisAtOrigin);
+        selfTestService.getSelfTestStatus().setZAxisAtOrigin(zAxisAtOrigin);
+
+        if (xAxisAtOrigin && yAxisAtOrigin && zAxisAtOrigin) {
+            deviceStatus.setSelfTestCompleted(true);
+        }
         return Result.success(selfTestService.getSelfTestStatus());
     }
 

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

@@ -30,7 +30,7 @@ public class DeviceSelfTest extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(FrontCmdControlForm form) {
         return runAsync(() -> {
-            DeviceCommand overallDeviceStatusGetCommand = DeviceCommandGenerator.overallDeviceStatusGet();
+          /*  DeviceCommand overallDeviceStatusGetCommand = DeviceCommandGenerator.overallDeviceStatusGet();
             CommandFuture overallDeviceStatusGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), overallDeviceStatusGetCommand);
             commandWait(overallDeviceStatusGetCommandFuture);
 
@@ -45,7 +45,7 @@ public class DeviceSelfTest extends BaseCommandHandler {
             if (xAxisAtOrigin && yAxisAtOrigin && zAxisAtOrigin) {
                 deviceStatus.setSelfTestCompleted(true);
             }
-
+*/
           /*  DeviceCommand overallDeviceStatusGetCommand = DeviceCommandGenerator.overallDeviceStatusGet();
             CommandFuture overallDeviceStatusGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), overallDeviceStatusGetCommand);
             commandWait(overallDeviceStatusGetCommandFuture);

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

@@ -29,6 +29,14 @@ public class NozzlePipelinePreFillStop extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(FrontCmdControlForm form) {
         return runAsync(() -> {
+            DeviceCommand motorXStopCommand = DeviceCommandGenerator.motorXStop(); //x轴停止移动
+            DeviceCommand motorYStopCommand = DeviceCommandGenerator.motorYStop(); //y轴停止移动
+            DeviceCommand motorZStopCommand = DeviceCommandGenerator.motorZStop(); //z轴停止移动
+            CommandFuture motorXStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXStopCommand);
+            CommandFuture motorYStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYStopCommand);
+            CommandFuture motorZStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZStopCommand);
+            commandWait(motorXStopCommandFuture, motorYStopCommandFuture, motorZStopCommandFuture);
+
             //1.停止推动注射泵
             DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop();//停止推动注射泵
             CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpStopCommand);

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

@@ -29,6 +29,14 @@ public class SyringePipelineWashStop extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(FrontCmdControlForm form) {
         return runAsync(() -> {
+            DeviceCommand motorXStopCommand = DeviceCommandGenerator.motorXStop(); //x轴停止移动
+            DeviceCommand motorYStopCommand = DeviceCommandGenerator.motorYStop(); //y轴停止移动
+            DeviceCommand motorZStopCommand = DeviceCommandGenerator.motorZStop(); //z轴停止移动
+            CommandFuture motorXStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXStopCommand);
+            CommandFuture motorYStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYStopCommand);
+            CommandFuture motorZStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZStopCommand);
+            commandWait(motorXStopCommandFuture, motorYStopCommandFuture, motorZStopCommandFuture);
+
             //1.停止推动注射泵
             DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop(); //停止推动注射泵
             CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpStopCommand);