fix:动态调整参数

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

@@ -77,15 +77,15 @@ public class SprayTaskExecutor {
                 int sprayNum = 1;
                 for (SprayTaskStep sprayTaskStep : sprayTask.getSprayTaskStepList()) {//循环进行多次喷涂
                     //先移动到玻片位置
-                    DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(slideArr[sprayTaskStep.getIndex()][0],20.0);
-                    DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorYPositionSet(75.5 - slideArr[sprayTaskStep.getIndex()][1],20.0);
+                    DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(slideArr[sprayTaskStep.getIndex()][0], 20.0);
+                    DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorYPositionSet(75.5 - slideArr[sprayTaskStep.getIndex()][1], 20.0);
                     CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXPositionSetCommand);
                     CommandFuture motorYPositionSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYPositionSetCommand);
 
                     SysSettings slideHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper<SysSettings>().eq(SysSettings::getCode, "slide_height"));
                     Double slideHeight = Double.parseDouble(slideHeightSysSettings.getValue());
                     Double height = slideHeight - sprayTask.getSprayParams().getMotorZHeight();//下降z轴高度
-                    DeviceCommand motorZPositionSetAboveSlideCommand = DeviceCommandGenerator.motorZPositionSet(height,15.0);
+                    DeviceCommand motorZPositionSetAboveSlideCommand = DeviceCommandGenerator.motorZPositionSet(height, 15.0);
                     CommandFuture motorZPositionSetAboveSlideCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZPositionSetAboveSlideCommand);
                     commandWait(motorXPositionSetCommandFuture, motorYPositionSetCommandFuture, motorZPositionSetAboveSlideCommandFuture);
 
@@ -104,17 +104,21 @@ public class SprayTaskExecutor {
                             continue;
                         }
                         List<DeviceCommand> sprayStepCommands = sprayTaskStep.getSpraySteps().get(i);
+                        DeviceCommand xSprayStepCommands = sprayStepCommands.get(0);
+                        xSprayStepCommands.getParam().put("speed", sprayTask.getSprayParams().getMovingSpeed());//防止修改了移动速度这里重新设置移动速度
+                        DeviceCommand ySprayStepCommands = sprayStepCommands.get(1);
+                        ySprayStepCommands.getParam().put("speed", sprayTask.getSprayParams().getMovingSpeed());
                         List<CommandFuture> commandFutureList = new ArrayList<>();
-                        double aXPoint = (double) sprayStepCommands.get(0).getParam().get("position");
-                        double aYPoint = (double) sprayStepCommands.get(1).getParam().get("position");
+                        double aXPoint = (double) xSprayStepCommands.getParam().get("position");
+                        double aYPoint = (double) ySprayStepCommands.getParam().get("position");
 
-                        if(cacheXPoint != aXPoint){
-                            CommandFuture commandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), sprayStepCommands.get(0));
+                        if (cacheXPoint != aXPoint) {
+                            CommandFuture commandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), xSprayStepCommands);
                             commandFutureList.add(commandFuture);
                             cacheXPoint = aXPoint;
                         }
-                        if(cacheYPoint != aYPoint){
-                            CommandFuture commandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), sprayStepCommands.get(1));
+                        if (cacheYPoint != aYPoint) {
+                            CommandFuture commandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), ySprayStepCommands);
                             commandFutureList.add(commandFuture);
                             cacheYPoint = aYPoint;
                         }
@@ -126,8 +130,8 @@ public class SprayTaskExecutor {
                             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);
-                            double nextXPoint = (Double) sprayStepCommands.get(0).getParam().get("position") - slideArr[sprayTaskStep.getIndex()][0];
-                            double nextYPoint = 75.5 - (Double) sprayStepCommands.get(1).getParam().get("position");
+                            double nextXPoint = (Double) xSprayStepCommands.getParam().get("position") - slideArr[sprayTaskStep.getIndex()][0];
+                            double nextYPoint = 75.5 - (Double) ySprayStepCommands.getParam().get("position");
                             nextPoint = new Point2D(nextXPoint, nextYPoint);
                             SprayTaskPointCollectorPushBO sprayTaskPointCollectorPushBO = new SprayTaskPointCollectorPushBO(sprayTask.getCmdId(), sprayTask.getCmdCode(), sprayTaskStep.getIndex(), sprayNum, currentPoint, nextPoint);
                             webSocketService.pushMsg(WebSocketMessageType.SPRAY_POINT, sprayTaskPointCollectorPushBO);

src/main/java/com/qyft/ms/system/service/device/DeviceCommandService.java

@@ -1,6 +1,7 @@
 package com.qyft.ms.system.service.device;
 
 import cn.hutool.json.JSONObject;
+import cn.hutool.json.JSONUtil;
 import com.qyft.ms.app.device.status.DeviceStatus;
 import com.qyft.ms.system.common.constant.CommandStatus;
 import com.qyft.ms.system.common.device.command.CommandFuture;
@@ -78,7 +79,7 @@ public class DeviceCommandService {
 //            Boolean success = result.getBool("success");
 //            if (success == null || !success) { //ack失败
 //                String message = deviceCommand.getCmdName() + "指令，设备ack错误";
-//                webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(cmdId, cmdCode, CommandStatus.SEND, message, result));
+//                webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(cmdId, cmdCode, CommandStatus.DEVICE_ERROR, message, result));
 //                throw new RuntimeException(message);
 //            }
 //            webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(cmdId, cmdCode, CommandStatus.RESULT, deviceCommand.getCmdName() + "指令，设备ack正常", result));
@@ -89,7 +90,7 @@ public class DeviceCommandService {
             Boolean success = result.getBool("success");
             if (success == null || !success) { //response失败
                 String message = deviceCommand.getCmdName() + "指令，设备response错误";
-                webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(cmdId, cmdCode, CommandStatus.SEND, message, result));
+                webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(cmdId, cmdCode, CommandStatus.DEVICE_ERROR, message, result));
                 throw new RuntimeException(message);
             }
             webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(cmdId, cmdCode, CommandStatus.DEVICE_RESULT, deviceCommand.getCmdName() + "指令，设备response正常，耗时:" + (commandFuture.getEndSendTime() - commandFuture.getStartSendTime()), result));
@@ -103,8 +104,10 @@ public class DeviceCommandService {
     public void handleDeviceResult(JSONObject deviceResult) {
         String tag = deviceResult.getStr("tag");
         if ("ACK".equals(tag)) {
+            log.info("ACK {}", JSONUtil.toJsonStr(deviceResult));
             completeCommandAck(deviceResult);
         } else if ("RESPONSE".equals(tag)) {
+            log.info("RESPONSE {}", JSONUtil.toJsonStr(deviceResult));
             completeCommandResponse(deviceResult);
         } else if ("EVENT".equals(tag)) {
             String eventType = deviceResult.getStr("event_type");