fix:调整业务指令处理逻辑

src/main/java/com/qyft/ms/app/front/cmd/DemoCommand.java

@@ -1,5 +1,6 @@
 package com.qyft.ms.app.front.cmd;
 
+import cn.hutool.json.JSONObject;
 import com.qyft.ms.system.common.annotation.CommandMapping;
 import com.qyft.ms.system.common.device.command.CommandFuture;
 import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
@@ -32,7 +33,17 @@ public class DemoCommand extends BaseCommandHandler {
             CommandFuture motorXOriginCommandFuture = deviceCommandService.sendCommand(motorXOriginCommand, form, emitter);
             CommandFuture motorYOriginCommandFuture = deviceCommandService.sendCommand(motorYOriginCommand, form, emitter);
 
-            commandWaitAll(motorXOriginCommandFuture, motorYOriginCommandFuture);
+            commandWait(motorXOriginCommandFuture, motorYOriginCommandFuture);
+
+
+            DeviceCommand motorXyzPositionGetCommand = DeviceCommandGenerator.motorXyzPositionGet();//获得电机XYZ相对原点坐标
+
+            CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(motorXyzPositionGetCommand, form, emitter);
+
+            commandWait(motorXyzPositionGetCommandFuture);
+
+            JSONObject ackResultJson = motorXyzPositionGetCommandFuture.getAckResult();
+            JSONObject responseResultJson = motorXyzPositionGetCommandFuture.getResponseResult();
 
         });
 

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

@@ -43,10 +43,10 @@ public class DehumidifierStart extends BaseCommandHandler {
             // 获取设备当前湿度
             DeviceCommand humidityGetCmd = DeviceCommandGenerator.humidityGet(); // 生成获取湿度指令
             CommandFuture humidityGetCmdFuture = deviceCommandService.sendCommand(humidityGetCmd, form, emitter);
-            waitAll(humidityGetCmdFuture.getAckFuture());
+            commandWait(humidityGetCmdFuture);
 
-            JSONObject humidityGetCmdFutureResult = humidityGetCmdFuture.getEventFuture().get();
-            Double deviceHumidity = humidityGetCmdFutureResult.getJSONObject("result").getDouble("humidity");
+            JSONObject humidityGetCmdFutureResult = humidityGetCmdFuture.getResponseResult();
+            Double deviceHumidity = humidityGetCmdFutureResult.getDouble("humidity");
 
             // 判断是否需要除湿：若前端设定湿度大于当前湿度，则无需开启除湿阀
             if (humidity > deviceHumidity) {
@@ -57,7 +57,7 @@ public class DehumidifierStart extends BaseCommandHandler {
             // 开启除湿阀门
             DeviceCommand dehumidifierValveOpenCmd = DeviceCommandGenerator.dehumidifierValveOpen(); // 生成开启除湿阀指令
             CommandFuture dehumidifierValveOpenCmdFuture = deviceCommandService.sendCommand(dehumidifierValveOpenCmd, form, emitter);
-            waitAll(dehumidifierValveOpenCmdFuture.getAckFuture());
+            commandWait(dehumidifierValveOpenCmdFuture);
         });
     }
 }

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

@@ -1,6 +1,5 @@
 package com.qyft.ms.app.front.cmd.business;
 
-import cn.hutool.json.JSONObject;
 import com.qyft.ms.system.common.annotation.CommandMapping;
 import com.qyft.ms.system.common.device.command.CommandFuture;
 import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
@@ -10,7 +9,6 @@ import com.qyft.ms.system.model.form.FrontCmdControlForm;
 import com.qyft.ms.system.service.device.DeviceCommandService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
@@ -32,7 +30,7 @@ public class DehumidifierStop extends BaseCommandHandler {
         return runAsync(() -> {
             DeviceCommand dehumidifierStopCommand = DeviceCommandGenerator.dehumidifierValveClose(); // 生成关闭除湿阀指令
             CommandFuture dehumidifierStopCommandFuture = deviceCommandService.sendCommand(dehumidifierStopCommand, form, emitter);
-            waitAll(dehumidifierStopCommandFuture.getAckFuture());
+            commandWait(dehumidifierStopCommandFuture);
         });
     }
 }

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

@@ -83,12 +83,7 @@ public class MatrixSprayStart extends BaseCommandHandler {
             CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommand(motorXPositionSetCommand, form, emitter);
             CommandFuture motorYPositionSetCommandFuture = deviceCommandService.sendCommand(motorYPositionSetCommand, form, emitter);
 
-            deviceCommandService.waitForEvent(DeviceEventConstants.MOTOR_X_MOVE_FINISHED, motorZPositionSetCommandFuture);
-            deviceCommandService.waitForEvent(DeviceEventConstants.MOTOR_Y_MOVE_FINISHED, motorXPositionSetCommandFuture);
-            deviceCommandService.waitForEvent(DeviceEventConstants.MOTOR_Z_MOVE_FINISHED, motorYPositionSetCommandFuture);
-
-            waitAll(motorZPositionSetCommandFuture.getAckFuture(), motorXPositionSetCommandFuture.getAckFuture(),motorYPositionSetCommandFuture.getAckFuture());
-            waitAllEvent(motorZPositionSetCommandFuture.getEventFuture(), motorXPositionSetCommandFuture.getEventFuture(),motorYPositionSetCommandFuture.getEventFuture());
+            commandWait(motorZPositionSetCommandFuture, motorXPositionSetCommandFuture,motorYPositionSetCommandFuture);
 
 
         });

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

@@ -3,7 +3,6 @@ package com.qyft.ms.app.front.cmd.business;
 import cn.hutool.json.JSONObject;
 import com.qyft.ms.system.common.annotation.CommandMapping;
 import com.qyft.ms.system.common.constant.CommandStatus;
-import com.qyft.ms.system.common.constant.DeviceEventConstants;
 import com.qyft.ms.system.common.device.command.CommandFuture;
 import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
 import com.qyft.ms.system.common.device.command.FrontCommand;
@@ -43,7 +42,7 @@ public class NozzlePipelinePreFill extends BaseCommandHandler {
             // 判断z轴是否在安全距离，如果不在安全距离则抬升z轴
             DeviceCommand motorXyzPositionGetCommand = DeviceCommandGenerator.motorXyzPositionGet(); // 生成获取xyz当前位置指令
             CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(motorXyzPositionGetCommand, form, emitter);
-            waitAll(motorXyzPositionGetCommandFuture.getAckFuture());
+            commandWait(motorXyzPositionGetCommandFuture);
 
             JSONObject motorXyzPositionGetCommandFutureResult = motorXyzPositionGetCommandFuture.getAckFuture().get();
             JSONObject resultObj = motorXyzPositionGetCommandFutureResult.getJSONObject("result");
@@ -58,9 +57,7 @@ public class NozzlePipelinePreFill extends BaseCommandHandler {
                 emitter.send(FrontCommand.backstage(form.getCmdId(), form.getCmdCode(), CommandStatus.SEND, "z轴超出安全距离，抬升z轴至安全距离"), MediaType.APPLICATION_JSON);
                 DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(80.0);
                 CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(motorZPositionSetCommand, form, emitter);
-                deviceCommandService.waitForEvent(DeviceEventConstants.MOTOR_Z_MOVE_FINISHED,motorZPositionSetCommandFuture);
-                waitAll(motorZPositionSetCommandFuture.getAckFuture());
-                waitAllEvent(motorZPositionSetCommandFuture.getEventFuture());
+                commandWait(motorZPositionSetCommandFuture);
             }
 
             // x轴移动到废液位置，下降z轴高度防止飞溅
@@ -72,26 +69,21 @@ public class NozzlePipelinePreFill extends BaseCommandHandler {
             DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(70.0);
             CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(motorZPositionSetCommand, form, emitter);
 
-            deviceCommandService.waitForEvent(DeviceEventConstants.MOTOR_X_MOVE_FINISHED,motorXPositionSetCommandFuture);
-            deviceCommandService.waitForEvent(DeviceEventConstants.MOTOR_Z_MOVE_FINISHED,motorZPositionSetCommandFuture);
-
-            waitAll(motorXPositionSetCommandFuture.getAckFuture(),motorZPositionSetCommandFuture.getAckFuture());
-            waitAllEvent(motorXPositionSetCommandFuture.getEventFuture(),motorZPositionSetCommandFuture.getEventFuture());
+            commandWait(motorXPositionSetCommandFuture, motorZPositionSetCommandFuture);
 
             // 打开三通阀注射器管路
             DeviceCommand threeWayValveOpenNozzlePipelineCommand = DeviceCommandGenerator.threeWayValveOpenNozzlePipeline();
             CommandFuture threeWayValveOpenNozzlePipelineCommandFuture = deviceCommandService.sendCommand(threeWayValveOpenNozzlePipelineCommand, form, emitter);
-            waitAll(threeWayValveOpenNozzlePipelineCommandFuture.getAckFuture());
 
             // 打开喷嘴阀
             DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen();
             CommandFuture nozzleValveOpenCommandFuture = deviceCommandService.sendCommand(nozzleValveOpenCommand, form, emitter);
-            waitAll(nozzleValveOpenCommandFuture.getAckFuture());
 
             // 设置注射泵速度，推注射泵
             DeviceCommand syringePumpForwardCommand = DeviceCommandGenerator.syringePumpForward(speed);
             CommandFuture syringePumpForwardCommandFuture = deviceCommandService.sendCommand(syringePumpForwardCommand, form, emitter);
-            waitAll(syringePumpForwardCommandFuture.getAckFuture());
+
+            commandWait(threeWayValveOpenNozzlePipelineCommandFuture, nozzleValveOpenCommandFuture, syringePumpForwardCommandFuture);
         });
     }
 }

src/main/java/com/qyft/ms/app/front/cmd/debug/DehumidifierValveClose.java

@@ -1,6 +1,5 @@
 package com.qyft.ms.app.front.cmd.debug;
 
-import cn.hutool.json.JSONObject;
 import com.qyft.ms.system.common.annotation.CommandMapping;
 import com.qyft.ms.system.common.device.command.CommandFuture;
 import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
@@ -10,7 +9,6 @@ import com.qyft.ms.system.model.form.FrontCmdControlForm;
 import com.qyft.ms.system.service.device.DeviceCommandService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
@@ -31,7 +29,7 @@ public class DehumidifierValveClose extends BaseCommandHandler {
         return runAsync(() -> {
             DeviceCommand dehumidifierValveCloseCommand = DeviceCommandGenerator.dehumidifierValveClose();//生成关闭除湿阀指令
             CommandFuture dehumidifierValveCloseCommandFuture = deviceCommandService.sendCommand(dehumidifierValveCloseCommand, form, emitter);
-            waitAll(dehumidifierValveCloseCommandFuture.getAckFuture());
+            commandWait(dehumidifierValveCloseCommandFuture);
         });
     }
 }

src/main/java/com/qyft/ms/app/front/cmd/debug/DehumidifierValveOpen.java

@@ -1,6 +1,5 @@
 package com.qyft.ms.app.front.cmd.debug;
 
-import cn.hutool.json.JSONObject;
 import com.qyft.ms.system.common.annotation.CommandMapping;
 import com.qyft.ms.system.common.device.command.CommandFuture;
 import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
@@ -10,7 +9,6 @@ import com.qyft.ms.system.model.form.FrontCmdControlForm;
 import com.qyft.ms.system.service.device.DeviceCommandService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
@@ -31,7 +29,7 @@ public class DehumidifierValveOpen extends BaseCommandHandler {
         return runAsync(() -> {
             DeviceCommand dehumidifierValveOpenCommand = DeviceCommandGenerator.dehumidifierValveOpen(); // 生成开启除湿阀指令
             CommandFuture dehumidifierValveOpenCommandFuture = deviceCommandService.sendCommand(dehumidifierValveOpenCommand, form, emitter);
-            waitAll(dehumidifierValveOpenCommandFuture.getAckFuture());
+            commandWait(dehumidifierValveOpenCommandFuture);
         });
     }
 }

src/main/java/com/qyft/ms/app/front/cmd/debug/HighVoltageClose.java

@@ -1,6 +1,5 @@
 package com.qyft.ms.app.front.cmd.debug;
 
-import cn.hutool.json.JSONObject;
 import com.qyft.ms.system.common.annotation.CommandMapping;
 import com.qyft.ms.system.common.device.command.CommandFuture;
 import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
@@ -10,7 +9,6 @@ import com.qyft.ms.system.model.form.FrontCmdControlForm;
 import com.qyft.ms.system.service.device.DeviceCommandService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
@@ -31,7 +29,7 @@ public class HighVoltageClose extends BaseCommandHandler {
         return runAsync(() -> {
             DeviceCommand highVoltageCloseCommand = DeviceCommandGenerator.highVoltageClose(); // 生成关闭高压指令
             CommandFuture highVoltageCloseCommandFuture = deviceCommandService.sendCommand(highVoltageCloseCommand, form, emitter);
-            waitAll(highVoltageCloseCommandFuture.getAckFuture());
+            commandWait(highVoltageCloseCommandFuture);
         });
     }
 }

src/main/java/com/qyft/ms/app/front/cmd/debug/HighVoltageOpen.java

@@ -1,6 +1,5 @@
 package com.qyft.ms.app.front.cmd.debug;
 
-import cn.hutool.json.JSONObject;
 import com.qyft.ms.system.common.annotation.CommandMapping;
 import com.qyft.ms.system.common.device.command.CommandFuture;
 import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
@@ -10,7 +9,6 @@ import com.qyft.ms.system.model.form.FrontCmdControlForm;
 import com.qyft.ms.system.service.device.DeviceCommandService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
@@ -32,7 +30,7 @@ public class HighVoltageOpen extends BaseCommandHandler {
             Double voltage = form.getDoubleParam("voltage");
             DeviceCommand highVoltageOpenCommand = DeviceCommandGenerator.highVoltageOpen(voltage); // 生成打开高压指令
             CommandFuture highVoltageOpenCommandFuture = deviceCommandService.sendCommand(highVoltageOpenCommand, form, emitter);
-            waitAll(highVoltageOpenCommandFuture.getAckFuture());
+            commandWait(highVoltageOpenCommandFuture);
         });
     }
 }

src/main/java/com/qyft/ms/app/front/cmd/debug/LaserControlClose.java

@@ -1,6 +1,5 @@
 package com.qyft.ms.app.front.cmd.debug;
 
-import cn.hutool.json.JSONObject;
 import com.qyft.ms.system.common.annotation.CommandMapping;
 import com.qyft.ms.system.common.device.command.CommandFuture;
 import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
@@ -10,7 +9,6 @@ import com.qyft.ms.system.model.form.FrontCmdControlForm;
 import com.qyft.ms.system.service.device.DeviceCommandService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
@@ -31,7 +29,7 @@ public class LaserControlClose extends BaseCommandHandler {
         return runAsync(() -> {
             DeviceCommand laserControlCloseCommand = DeviceCommandGenerator.laserControlClose(); // 生成关闭激光指令
             CommandFuture laserControlCloseCommandFuture = deviceCommandService.sendCommand(laserControlCloseCommand, form, emitter);
-            waitAll(laserControlCloseCommandFuture.getAckFuture());
+            commandWait(laserControlCloseCommandFuture);
         });
     }
 }

src/main/java/com/qyft/ms/app/front/cmd/debug/LaserControlOpen.java

@@ -1,6 +1,5 @@
 package com.qyft.ms.app.front.cmd.debug;
 
-import cn.hutool.json.JSONObject;
 import com.qyft.ms.system.common.annotation.CommandMapping;
 import com.qyft.ms.system.common.device.command.CommandFuture;
 import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
@@ -10,7 +9,6 @@ import com.qyft.ms.system.model.form.FrontCmdControlForm;
 import com.qyft.ms.system.service.device.DeviceCommandService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
@@ -32,7 +30,7 @@ public class LaserControlOpen extends BaseCommandHandler {
             Double power = form.getDoubleParam("power");
             DeviceCommand laserControlOpenCommand = DeviceCommandGenerator.laserControlOpen(power); // 生成打开激光指令
             CommandFuture laserControlOpenCommandFuture = deviceCommandService.sendCommand(laserControlOpenCommand, form, emitter);
-            waitAll(laserControlOpenCommandFuture.getAckFuture());
+            commandWait(laserControlOpenCommandFuture);
 
         });
     }

src/main/java/com/qyft/ms/app/front/cmd/debug/LightingPanelClose.java

@@ -1,6 +1,5 @@
 package com.qyft.ms.app.front.cmd.debug;
 
-import cn.hutool.json.JSONObject;
 import com.qyft.ms.system.common.annotation.CommandMapping;
 import com.qyft.ms.system.common.device.command.CommandFuture;
 import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
@@ -10,7 +9,6 @@ import com.qyft.ms.system.model.form.FrontCmdControlForm;
 import com.qyft.ms.system.service.device.DeviceCommandService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
@@ -31,7 +29,7 @@ public class LightingPanelClose extends BaseCommandHandler {
         return runAsync(() -> {
             DeviceCommand lightingPanelCloseCommand = DeviceCommandGenerator.lightingPanelClose(); // 生成关闭照明灯指令
             CommandFuture lightingPanelCloseCommandFuture = deviceCommandService.sendCommand(lightingPanelCloseCommand, form, emitter);
-            waitAll(lightingPanelCloseCommandFuture.getAckFuture());
+            commandWait(lightingPanelCloseCommandFuture);
         });
     }
 }

src/main/java/com/qyft/ms/app/front/cmd/debug/LightingPanelOpen.java

@@ -1,6 +1,5 @@
 package com.qyft.ms.app.front.cmd.debug;
 
-import cn.hutool.json.JSONObject;
 import com.qyft.ms.system.common.annotation.CommandMapping;
 import com.qyft.ms.system.common.device.command.CommandFuture;
 import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
@@ -10,7 +9,6 @@ import com.qyft.ms.system.model.form.FrontCmdControlForm;
 import com.qyft.ms.system.service.device.DeviceCommandService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
@@ -31,7 +29,7 @@ public class LightingPanelOpen extends BaseCommandHandler {
         return runAsync(() -> {
             DeviceCommand lightingPanelOpenCommand = DeviceCommandGenerator.lightingPanelOpen(); // 生成打开照明灯板指令
             CommandFuture lightingPanelOpenCommandFuture = deviceCommandService.sendCommand(lightingPanelOpenCommand, form, emitter);
-            waitAll(lightingPanelOpenCommandFuture.getAckFuture());
+            commandWait(lightingPanelOpenCommandFuture);
         });
     }
 }

src/main/java/com/qyft/ms/app/front/cmd/debug/MotorXMove.java

@@ -36,12 +36,10 @@ public class MotorXMove extends BaseCommandHandler {
             // 获取当前x轴位置
             DeviceCommand motorXyzPositionGetCommand = DeviceCommandGenerator.motorXyzPositionGet(); // 生成电机XYZ相对原点坐标指令
             CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(motorXyzPositionGetCommand, form, emitter);
-            waitAll(motorXyzPositionGetCommandFuture.getAckFuture());
+            commandWait(motorXyzPositionGetCommandFuture);
 
-            JSONObject motorXyzPositionGetCommandResult = motorXyzPositionGetCommandFuture.getAckFuture().get();
-
-            JSONObject motorXyzPositionGetCommandResultObj = motorXyzPositionGetCommandResult.getJSONObject("result");
-            Double xAxisPosition = motorXyzPositionGetCommandResultObj.getDouble("xAxisPosition");
+            JSONObject motorXyzPositionGetCommandResult = motorXyzPositionGetCommandFuture.getResponseResult();
+            Double xAxisPosition = motorXyzPositionGetCommandResult.getDouble("xAxisPosition");
 
             // 计算目标位置
             double finalPosition = 0.0;
@@ -57,7 +55,7 @@ public class MotorXMove extends BaseCommandHandler {
             // 生成移动x轴到指定位置指令并发送
             DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(finalPosition, speed);
             CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommand(motorXPositionSetCommand, form, emitter);
-            waitAll(motorXPositionSetCommandFuture.getAckFuture());
+            commandWait(motorXPositionSetCommandFuture);
         });
     }
 }

src/main/java/com/qyft/ms/app/front/cmd/debug/MotorXOrigin.java

@@ -1,6 +1,5 @@
 package com.qyft.ms.app.front.cmd.debug;
 
-import cn.hutool.json.JSONObject;
 import com.qyft.ms.system.common.annotation.CommandMapping;
 import com.qyft.ms.system.common.device.command.CommandFuture;
 import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
@@ -10,7 +9,6 @@ import com.qyft.ms.system.model.form.FrontCmdControlForm;
 import com.qyft.ms.system.service.device.DeviceCommandService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
@@ -31,7 +29,7 @@ public class MotorXOrigin extends BaseCommandHandler {
         return runAsync(() -> {
             DeviceCommand motorXOriginCommand = DeviceCommandGenerator.motorXOrigin(); // x轴回原点
             CommandFuture motorXOriginCommandFuture = deviceCommandService.sendCommand(motorXOriginCommand, form, emitter);
-            waitAll(motorXOriginCommandFuture.getAckFuture());
+            commandWait(motorXOriginCommandFuture);
         });
     }
 }

src/main/java/com/qyft/ms/app/front/cmd/debug/MotorXStop.java

@@ -1,6 +1,5 @@
 package com.qyft.ms.app.front.cmd.debug;
 
-import cn.hutool.json.JSONObject;
 import com.qyft.ms.system.common.annotation.CommandMapping;
 import com.qyft.ms.system.common.device.command.CommandFuture;
 import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
@@ -10,7 +9,6 @@ import com.qyft.ms.system.model.form.FrontCmdControlForm;
 import com.qyft.ms.system.service.device.DeviceCommandService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
@@ -31,7 +29,7 @@ public class MotorXStop extends BaseCommandHandler {
         return runAsync(() -> {
             DeviceCommand motorXStopCommand = DeviceCommandGenerator.motorXStop(); // 生成x轴停止移动指令
             CommandFuture motorXStopCommandFuture = deviceCommandService.sendCommand(motorXStopCommand, form, emitter);
-            waitAll(motorXStopCommandFuture.getAckFuture());
+            commandWait(motorXStopCommandFuture);
         });
     }
 }

src/main/java/com/qyft/ms/app/front/cmd/debug/MotorXYZPositionGet.java

@@ -1,6 +1,5 @@
 package com.qyft.ms.app.front.cmd.debug;
 
-import cn.hutool.json.JSONObject;
 import com.qyft.ms.system.common.annotation.CommandMapping;
 import com.qyft.ms.system.common.device.command.CommandFuture;
 import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
@@ -10,7 +9,6 @@ import com.qyft.ms.system.model.form.FrontCmdControlForm;
 import com.qyft.ms.system.service.device.DeviceCommandService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
@@ -30,8 +28,8 @@ public class MotorXYZPositionGet extends BaseCommandHandler {
     public CompletableFuture<Void> handle(FrontCmdControlForm form, ResponseBodyEmitter emitter) {
         return runAsync(() -> {
             DeviceCommand motorXyzPositionGetCommand = DeviceCommandGenerator.motorXyzPositionGet(); // 生成获得电机XYZ相对原点坐标指令
-            CommandFuture future = deviceCommandService.sendCommand(motorXyzPositionGetCommand, form, emitter);
-            waitAll(future.getAckFuture());
+            CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(motorXyzPositionGetCommand, form, emitter);
+            commandWait(motorXyzPositionGetCommandFuture);
         });
     }
 }

src/main/java/com/qyft/ms/app/front/cmd/debug/MotorYMove.java

@@ -10,7 +10,6 @@ import com.qyft.ms.system.model.form.FrontCmdControlForm;
 import com.qyft.ms.system.service.device.DeviceCommandService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
@@ -36,10 +35,9 @@ public class MotorYMove extends BaseCommandHandler {
             // 获取当前Y轴位置
             DeviceCommand motorXyzPositionGetCommand = DeviceCommandGenerator.motorXyzPositionGet(); // 生成获得电机XYZ相对原点坐标指令
             CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(motorXyzPositionGetCommand, form, emitter);
-            waitAll(motorXyzPositionGetCommandFuture.getAckFuture());
-            JSONObject motorXyzPositionGetCommandDeviceResult = motorXyzPositionGetCommandFuture.getAckFuture().get();
-            JSONObject motorXyzPositionGetCommandResultObj = motorXyzPositionGetCommandDeviceResult.getJSONObject("result");
-            Double yAxisPosition = motorXyzPositionGetCommandResultObj.getDouble("yAxisPosition");
+            commandWait(motorXyzPositionGetCommandFuture);
+            JSONObject motorXyzPositionGetCommandDeviceResult = motorXyzPositionGetCommandFuture.getResponseResult();
+            Double yAxisPosition = motorXyzPositionGetCommandDeviceResult.getDouble("yAxisPosition");
 
             // 计算目标位置
             double finalPosition = 0.0;
@@ -55,7 +53,7 @@ public class MotorYMove extends BaseCommandHandler {
             // 生成移动Y轴到指定位置指令并发送
             DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorYPositionSet(finalPosition, speed);
             CommandFuture moveFuture = deviceCommandService.sendCommand(motorYPositionSetCommand, form, emitter);
-            waitAll(moveFuture.getAckFuture());
+            commandWait(moveFuture);
         });
     }
 }

src/main/java/com/qyft/ms/app/front/cmd/debug/MotorYOrigin.java

@@ -1,6 +1,5 @@
 package com.qyft.ms.app.front.cmd.debug;
 
-import cn.hutool.json.JSONObject;
 import com.qyft.ms.system.common.annotation.CommandMapping;
 import com.qyft.ms.system.common.device.command.CommandFuture;
 import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
@@ -10,7 +9,6 @@ import com.qyft.ms.system.model.form.FrontCmdControlForm;
 import com.qyft.ms.system.service.device.DeviceCommandService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
@@ -30,8 +28,8 @@ public class MotorYOrigin extends BaseCommandHandler {
     public CompletableFuture<Void> handle(FrontCmdControlForm form, ResponseBodyEmitter emitter) {
         return runAsync(() -> {
             DeviceCommand motorYOriginCommand = DeviceCommandGenerator.motorYOrigin(); // 生成Y回原点指令
-            CommandFuture future = deviceCommandService.sendCommand(motorYOriginCommand, form, emitter);
-            waitAll(future.getAckFuture());
+            CommandFuture motorYOriginCommandFuture = deviceCommandService.sendCommand(motorYOriginCommand, form, emitter);
+            commandWait(motorYOriginCommandFuture);
         });
     }
 }

src/main/java/com/qyft/ms/app/front/cmd/debug/MotorYStop.java

@@ -1,6 +1,5 @@
 package com.qyft.ms.app.front.cmd.debug;
 
-import cn.hutool.json.JSONObject;
 import com.qyft.ms.system.common.annotation.CommandMapping;
 import com.qyft.ms.system.common.device.command.CommandFuture;
 import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
@@ -10,7 +9,6 @@ import com.qyft.ms.system.model.form.FrontCmdControlForm;
 import com.qyft.ms.system.service.device.DeviceCommandService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
@@ -30,8 +28,8 @@ public class MotorYStop extends BaseCommandHandler {
     public CompletableFuture<Void> handle(FrontCmdControlForm form, ResponseBodyEmitter emitter) {
         return runAsync(() -> {
             DeviceCommand motorYStopCommand = DeviceCommandGenerator.motorYStop(); // 生成Y停止指令
-            CommandFuture future = deviceCommandService.sendCommand(motorYStopCommand, form, emitter);
-            waitAll(future.getAckFuture());
+            CommandFuture motorYStopCommandFuture = deviceCommandService.sendCommand(motorYStopCommand, form, emitter);
+            commandWait(motorYStopCommandFuture);
         });
     }
 }

src/main/java/com/qyft/ms/app/front/cmd/debug/MotorZMove.java

@@ -10,7 +10,6 @@ import com.qyft.ms.system.model.form.FrontCmdControlForm;
 import com.qyft.ms.system.service.device.DeviceCommandService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
@@ -37,10 +36,9 @@ public class MotorZMove extends BaseCommandHandler {
             // 生成获得电机XYZ相对原点坐标指令
             DeviceCommand motorXyzPositionGetCommand = DeviceCommandGenerator.motorXyzPositionGet();
             CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(motorXyzPositionGetCommand, form, emitter);
-            waitAll(motorXyzPositionGetCommandFuture.getAckFuture());
-            JSONObject motorXyzPositionGetCommandDeviceResult = motorXyzPositionGetCommandFuture.getAckFuture().get();
-            JSONObject motorXyzPositionGetCommandResultObj = motorXyzPositionGetCommandDeviceResult.getJSONObject("result");
-            Double zAxisPosition = motorXyzPositionGetCommandResultObj.getDouble("zAxisPosition");
+            commandWait(motorXyzPositionGetCommandFuture);
+            JSONObject motorXyzPositionGetCommandDeviceResult = motorXyzPositionGetCommandFuture.getResponseResult();
+            Double zAxisPosition = motorXyzPositionGetCommandDeviceResult.getDouble("zAxisPosition");
 
             // 根据方向计算最终位置
             double finalPosition = 0.0;
@@ -55,8 +53,8 @@ public class MotorZMove extends BaseCommandHandler {
 
             // 生成移动Z轴到指定位置指令
             DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(finalPosition, speed);
-            CommandFuture moveFuture = deviceCommandService.sendCommand(motorZPositionSetCommand, form, emitter);
-            waitAll(moveFuture.getAckFuture());
+            CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(motorZPositionSetCommand, form, emitter);
+            commandWait(motorZPositionSetCommandFuture);
         });
     }
 }

src/main/java/com/qyft/ms/app/front/cmd/debug/MotorZOrigin.java

@@ -1,6 +1,5 @@
 package com.qyft.ms.app.front.cmd.debug;
 
-import cn.hutool.json.JSONObject;
 import com.qyft.ms.system.common.annotation.CommandMapping;
 import com.qyft.ms.system.common.device.command.CommandFuture;
 import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
@@ -10,7 +9,6 @@ import com.qyft.ms.system.model.form.FrontCmdControlForm;
 import com.qyft.ms.system.service.device.DeviceCommandService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
@@ -30,8 +28,8 @@ public class MotorZOrigin extends BaseCommandHandler {
     public CompletableFuture<Void> handle(FrontCmdControlForm form, ResponseBodyEmitter emitter) {
         return runAsync(() -> {
             DeviceCommand motorZOriginCommand = DeviceCommandGenerator.motorZOrigin(); // 生成Z回原点指令
-            CommandFuture future = deviceCommandService.sendCommand(motorZOriginCommand, form, emitter);
-            waitAll(future.getAckFuture());
+            CommandFuture motorZOriginCommandFuture = deviceCommandService.sendCommand(motorZOriginCommand, form, emitter);
+            commandWait(motorZOriginCommandFuture);
         });
     }
 }

src/main/java/com/qyft/ms/app/front/cmd/debug/MotorZStop.java

@@ -1,6 +1,5 @@
 package com.qyft.ms.app.front.cmd.debug;
 
-import cn.hutool.json.JSONObject;
 import com.qyft.ms.system.common.annotation.CommandMapping;
 import com.qyft.ms.system.common.device.command.CommandFuture;
 import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
@@ -10,7 +9,6 @@ import com.qyft.ms.system.model.form.FrontCmdControlForm;
 import com.qyft.ms.system.service.device.DeviceCommandService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
@@ -30,8 +28,8 @@ public class MotorZStop extends BaseCommandHandler {
     public CompletableFuture<Void> handle(FrontCmdControlForm form, ResponseBodyEmitter emitter) {
         return runAsync(() -> {
             DeviceCommand motorZStopCommand = DeviceCommandGenerator.motorZStop(); // 生成Z停止指令
-            CommandFuture future = deviceCommandService.sendCommand(motorZStopCommand, form, emitter);
-            waitAll(future.getAckFuture());
+            CommandFuture motorZStopCommandFuture = deviceCommandService.sendCommand(motorZStopCommand, form, emitter);
+            commandWait(motorZStopCommandFuture);
         });
     }
 }

src/main/java/com/qyft/ms/app/front/cmd/debug/NozzleValveClose.java

@@ -1,6 +1,5 @@
 package com.qyft.ms.app.front.cmd.debug;
 
-import cn.hutool.json.JSONObject;
 import com.qyft.ms.system.common.annotation.CommandMapping;
 import com.qyft.ms.system.common.device.command.CommandFuture;
 import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
@@ -10,7 +9,6 @@ import com.qyft.ms.system.model.form.FrontCmdControlForm;
 import com.qyft.ms.system.service.device.DeviceCommandService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
@@ -30,8 +28,8 @@ public class NozzleValveClose extends BaseCommandHandler {
     public CompletableFuture<Void> handle(FrontCmdControlForm form, ResponseBodyEmitter emitter) {
         return runAsync(() -> {
             DeviceCommand nozzleValveCloseCommand = DeviceCommandGenerator.nozzleValveClose(); // 生成关闭喷嘴阀指令
-            CommandFuture future = deviceCommandService.sendCommand(nozzleValveCloseCommand, form, emitter);
-            waitAll(future.getAckFuture());
+            CommandFuture nozzleValveCloseCommandfuture = deviceCommandService.sendCommand(nozzleValveCloseCommand, form, emitter);
+            commandWait(nozzleValveCloseCommandfuture);
         });
     }
 }

src/main/java/com/qyft/ms/app/front/cmd/debug/NozzleValveOpen.java

@@ -1,6 +1,5 @@
 package com.qyft.ms.app.front.cmd.debug;
 
-import cn.hutool.json.JSONObject;
 import com.qyft.ms.system.common.annotation.CommandMapping;
 import com.qyft.ms.system.common.device.command.CommandFuture;
 import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
@@ -10,7 +9,6 @@ import com.qyft.ms.system.model.form.FrontCmdControlForm;
 import com.qyft.ms.system.service.device.DeviceCommandService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
@@ -30,8 +28,8 @@ public class NozzleValveOpen extends BaseCommandHandler {
     public CompletableFuture<Void> handle(FrontCmdControlForm form, ResponseBodyEmitter emitter) {
         return runAsync(() -> {
             DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen(); // 生成开启喷嘴阀指令
-            CommandFuture future = deviceCommandService.sendCommand(nozzleValveOpenCommand, form, emitter);
-            waitAll(future.getAckFuture());
+            CommandFuture nozzleValveOpenCommandFuture = deviceCommandService.sendCommand(nozzleValveOpenCommand, form, emitter);
+            commandWait(nozzleValveOpenCommandFuture);
         });
     }
 }

src/main/java/com/qyft/ms/app/front/cmd/debug/SyringePumpStart.java

@@ -1,6 +1,5 @@
 package com.qyft.ms.app.front.cmd.debug;
 
-import cn.hutool.json.JSONObject;
 import com.qyft.ms.system.common.annotation.CommandMapping;
 import com.qyft.ms.system.common.device.command.CommandFuture;
 import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
@@ -10,7 +9,6 @@ import com.qyft.ms.system.model.form.FrontCmdControlForm;
 import com.qyft.ms.system.service.device.DeviceCommandService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
@@ -32,8 +30,8 @@ public class SyringePumpStart extends BaseCommandHandler {
             Double speed = form.getDoubleParam("speed");
             String direction = form.getStringParam("direction");
             DeviceCommand syringePumpStartCommand = DeviceCommandGenerator.syringePumpStart(direction, speed); // 生成移动注射泵指令
-            CommandFuture future = deviceCommandService.sendCommand(syringePumpStartCommand, form, emitter);
-            waitAll(future.getAckFuture());
+            CommandFuture syringePumpStartCommandFuture = deviceCommandService.sendCommand(syringePumpStartCommand, form, emitter);
+            commandWait(syringePumpStartCommandFuture);
         });
     }
 }

src/main/java/com/qyft/ms/app/front/cmd/debug/ThreeWayValveCloseAll.java

@@ -1,6 +1,5 @@
 package com.qyft.ms.app.front.cmd.debug;
 
-import cn.hutool.json.JSONObject;
 import com.qyft.ms.system.common.annotation.CommandMapping;
 import com.qyft.ms.system.common.device.command.CommandFuture;
 import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
@@ -10,7 +9,6 @@ import com.qyft.ms.system.model.form.FrontCmdControlForm;
 import com.qyft.ms.system.service.device.DeviceCommandService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
@@ -29,9 +27,9 @@ public class ThreeWayValveCloseAll extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(FrontCmdControlForm form, ResponseBodyEmitter emitter) {
         return runAsync(() -> {
-            DeviceCommand command = DeviceCommandGenerator.threeWayValveCloseAll(); // 生成全部关闭三通阀指令
-            CommandFuture future = deviceCommandService.sendCommand(command, form, emitter);
-            waitAll(future.getAckFuture());
+            DeviceCommand threeWayValveCloseAllCommand = DeviceCommandGenerator.threeWayValveCloseAll(); // 生成全部关闭三通阀指令
+            CommandFuture threeWayValveCloseAllCommandFuture = deviceCommandService.sendCommand(threeWayValveCloseAllCommand, form, emitter);
+            commandWait(threeWayValveCloseAllCommandFuture);
         });
     }
 }

src/main/java/com/qyft/ms/app/front/cmd/debug/ThreeWayValveOpenNuzzlePipeline.java

@@ -1,6 +1,5 @@
 package com.qyft.ms.app.front.cmd.debug;
 
-import cn.hutool.json.JSONObject;
 import com.qyft.ms.system.common.annotation.CommandMapping;
 import com.qyft.ms.system.common.device.command.CommandFuture;
 import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
@@ -10,7 +9,6 @@ import com.qyft.ms.system.model.form.FrontCmdControlForm;
 import com.qyft.ms.system.service.device.DeviceCommandService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
@@ -29,9 +27,9 @@ public class ThreeWayValveOpenNuzzlePipeline extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(FrontCmdControlForm form, ResponseBodyEmitter emitter) {
         return runAsync(() -> {
-            DeviceCommand command = DeviceCommandGenerator.threeWayValveOpenNozzlePipeline(); // 生成打开喷嘴管路指令
-            CommandFuture future = deviceCommandService.sendCommand(command, form, emitter);
-            waitAll(future.getAckFuture());
+            DeviceCommand threeWayValveOpenNozzlePipelineCommand = DeviceCommandGenerator.threeWayValveOpenNozzlePipeline(); // 生成打开喷嘴管路指令
+            CommandFuture threeWayValveOpenNozzlePipelineCommandFuture = deviceCommandService.sendCommand(threeWayValveOpenNozzlePipelineCommand, form, emitter);
+            commandWait(threeWayValveOpenNozzlePipelineCommandFuture);
         });
     }
 }

src/main/java/com/qyft/ms/app/front/cmd/debug/ThreeWayValveOpenSyringePipeline.java

@@ -1,6 +1,5 @@
 package com.qyft.ms.app.front.cmd.debug;
 
-import cn.hutool.json.JSONObject;
 import com.qyft.ms.system.common.annotation.CommandMapping;
 import com.qyft.ms.system.common.device.command.CommandFuture;
 import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
@@ -10,7 +9,6 @@ import com.qyft.ms.system.model.form.FrontCmdControlForm;
 import com.qyft.ms.system.service.device.DeviceCommandService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
@@ -29,9 +27,9 @@ public class ThreeWayValveOpenSyringePipeline extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(FrontCmdControlForm form, ResponseBodyEmitter emitter) {
         return runAsync(() -> {
-            DeviceCommand command = DeviceCommandGenerator.threeWayValveOpenSyringePipeline(); // 生成打开注射器管路指令
-            CommandFuture future = deviceCommandService.sendCommand(command, form, emitter);
-            waitAll(future.getAckFuture());
+            DeviceCommand threeWayValveOpenSyringePipelineCommand = DeviceCommandGenerator.threeWayValveOpenSyringePipeline(); // 生成打开注射器管路指令
+            CommandFuture threeWayValveOpenSyringePipelineCommandFuture = deviceCommandService.sendCommand(threeWayValveOpenSyringePipelineCommand, form, emitter);
+            commandWait(threeWayValveOpenSyringePipelineCommandFuture);
         });
     }
 }

src/main/java/com/qyft/ms/app/front/cmd/debug/WashValveClose.java

@@ -1,6 +1,5 @@
 package com.qyft.ms.app.front.cmd.debug;
 
-import cn.hutool.json.JSONObject;
 import com.qyft.ms.system.common.annotation.CommandMapping;
 import com.qyft.ms.system.common.device.command.CommandFuture;
 import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
@@ -10,7 +9,6 @@ import com.qyft.ms.system.model.form.FrontCmdControlForm;
 import com.qyft.ms.system.service.device.DeviceCommandService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
@@ -29,9 +27,9 @@ public class WashValveClose extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(FrontCmdControlForm form, ResponseBodyEmitter emitter) {
         return runAsync(() -> {
-            DeviceCommand command = DeviceCommandGenerator.washValveClose(); // 生成关闭清洗阀指令
-            CommandFuture future = deviceCommandService.sendCommand(command, form, emitter);
-            waitAll(future.getAckFuture());
+            DeviceCommand washValveCloseCommand = DeviceCommandGenerator.washValveClose(); // 生成关闭清洗阀指令
+            CommandFuture washValveCloseCommandFuture = deviceCommandService.sendCommand(washValveCloseCommand, form, emitter);
+            commandWait(washValveCloseCommandFuture);
         });
     }
 }

src/main/java/com/qyft/ms/app/front/cmd/debug/WashValveOpen.java

@@ -29,9 +29,9 @@ public class WashValveOpen extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(FrontCmdControlForm form, ResponseBodyEmitter emitter) {
         return runAsync(() -> {
-            DeviceCommand command = DeviceCommandGenerator.washValveOpen(); // 生成打开清洗阀指令
-            CommandFuture future = deviceCommandService.sendCommand(command, form, emitter);
-            waitAll(future.getAckFuture());
+            DeviceCommand washValveOpenCommand = DeviceCommandGenerator.washValveOpen(); // 生成打开清洗阀指令
+            CommandFuture washValveOpenCommandFuture = deviceCommandService.sendCommand(washValveOpenCommand, form, emitter);
+            commandWait(washValveOpenCommandFuture);
         });
     }
 }

src/main/java/com/qyft/ms/system/common/device/command/CommandFuture.java

@@ -4,6 +4,7 @@ import cn.hutool.json.JSONObject;
 import lombok.Getter;
 
 import java.util.concurrent.CompletableFuture;
+import java.util.concurrent.ExecutionException;
 import java.util.concurrent.TimeUnit;
 
 @Getter
@@ -25,17 +26,26 @@ public class CommandFuture {
     }
 
     /**
-     * 完成event反馈
+     * 完成response反馈
      */
     public void completeResponse(JSONObject result) {
         responseFuture.complete(result);
     }
 
+
+
+    /**
+     * 获取ack反馈的json
+     */
+    public JSONObject getAckResult() throws ExecutionException, InterruptedException {
+        return ackFuture.get();
+    }
+
     /**
-     * 等待指令反馈
+     * 获取response反馈的json
      */
-    public void commandWait() {
-        responseFuture.orTimeout(5, TimeUnit.SECONDS).join();
+    public JSONObject getResponseResult() throws ExecutionException, InterruptedException {
+        return responseFuture.get();
     }
 
 }

src/main/java/com/qyft/ms/system/core/handler/BaseCommandHandler.java

@@ -16,12 +16,13 @@ public abstract class BaseCommandHandler implements CommandHandler {
         return CompletableFuture.runAsync(LambdaUtil.unchecked(task));
     }
 
-    protected void commandWaitAll(CommandFuture... futures) {
+
+    protected void commandWait(CommandFuture... futures) {
         CompletableFuture<?>[] responseFutures = Arrays.stream(futures)
                 .map(CommandFuture::getResponseFuture)
                 .toArray(CompletableFuture[]::new);
         CompletableFuture.allOf(responseFutures)
-                .orTimeout(5, TimeUnit.SECONDS)
+                .orTimeout(120, TimeUnit.SECONDS)
                 .join();
     }
 

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

@@ -66,7 +66,7 @@ public class DeviceCommandService {
                     throw new RuntimeException(message);
                 }
                 frontCommandService.sendToFront(emitter, form, CommandStatus.RESULT, deviceCommand.getCommandName() + "指令，设备response正常", result);
-                return result;
+                return result.get("data");
             } catch (IOException e) {
                 throw new RuntimeException(e);
             }