feat:获取喷涂状态需要标注是第几个玻片

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

@@ -25,7 +25,7 @@ public class SprayTaskController {
     public Result<SprayTaskStatusVO> getStatus() {
         SprayTask sprayTask = SprayTask.getInstance();
         SprayTaskStatusVO sprayTaskStatusVO = new SprayTaskStatusVO();
-        sprayTaskStatusVO.setSprayedPoints(sprayTask.getSprayedPoints());
+        sprayTaskStatusVO.setSprayTaskSprayedList(sprayTask.getSprayTaskSprayedList());
         sprayTaskStatusVO.setSprayParams(sprayTask.getSprayParams());
         return Result.success(sprayTaskStatusVO);
     }

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

@@ -6,6 +6,8 @@ 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.SprayTaskSprayed;
+import com.qyft.ms.app.model.bo.SprayTaskStep;
 import com.qyft.ms.app.model.entity.SysSettings;
 import com.qyft.ms.app.service.SysSettingsService;
 import com.qyft.ms.system.common.device.command.CommandFuture;
@@ -76,8 +78,7 @@ public class SprayTaskExecutor {
 
                 int reCurrentStep = sprayTask.getCurrentStep();
                 int currentStep = 0; //当前喷涂步骤
-                int currentSprayIndex = 0; //喷涂计数
-                for (List<List<DeviceCommand>> deviceCommandList : sprayTask.getSpraySteps()) {//循环进行多次喷涂
+                for (SprayTaskStep sprayTaskStep : sprayTask.getSprayTaskStepList()) {//循环进行多次喷涂
 
                     DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen();//开启喷嘴阀
                     DeviceCommand syringePumpForwardCommand = DeviceCommandGenerator.syringePumpForward(sprayTask.getSprayParams().getVolume());//推动移动注射泵
@@ -88,17 +89,17 @@ 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> deviceCommandAgg : deviceCommandList) {//单次喷涂
+                    for (List<DeviceCommand> sprayStepCommands : sprayTaskStep.getSpraySteps()) {//单次喷涂
                         if (reCurrentStep < currentStep) {
                             break;
                         }
                         List<CommandFuture> commandFutureList = new ArrayList<>();
-                        for (DeviceCommand sprayStep : deviceCommandAgg) {
+                        for (DeviceCommand sprayStep : sprayStepCommands) {
                             CommandFuture commandFuture = deviceCommandService.sendCommand(sprayStep);
                             commandFutureList.add(commandFuture);
                         }
                         CommandFuture[] commandFutureArray = commandFutureList.toArray(new CommandFuture[0]);
-                        sprayTaskPointCollector.startCollecting(currentSprayIndex); //开启点位推送
+                        sprayTaskPointCollector.startCollecting(sprayTaskStep.getIndex()); //开启点位推送
                         commandWait(commandFutureArray);
                         sprayTaskPointCollector.stopCollecting();//关闭点位推送
                         currentStep++;
@@ -112,10 +113,11 @@ public class SprayTaskExecutor {
                         Double yAxisPosition = motorXyzPositionGetCommandResult.getDouble("yAxisPosition");
                         sprayStepList.add(new Point2D(xAxisPosition, yAxisPosition));
                     }
-                    currentSprayIndex++;
                     sprayTask.setSuspendable(false);//不可暂停
                     deviceStatus.setSuspendable(false);
-                    sprayTask.getSprayedPoints().add(sprayStepList);
+                    SprayTaskSprayed sprayTaskSprayed = new SprayTaskSprayed();
+                    sprayTaskSprayed.setIndex(sprayTaskStep.getIndex());
+                    sprayTaskSprayed.setSprayedPoints(sprayStepList);
 
                     DeviceCommand nozzleValveCloseCommand = DeviceCommandGenerator.nozzleValveClose();//关闭喷嘴阀
                     DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop();//停止推动注射泵

src/main/java/com/qyft/ms/app/device/status/SprayTask.java

@@ -1,8 +1,8 @@
 package com.qyft.ms.app.device.status;
 
-import com.qyft.ms.app.model.bo.Point2D;
 import com.qyft.ms.app.model.bo.SprayParams;
-import com.qyft.ms.system.model.bo.DeviceCommand;
+import com.qyft.ms.app.model.bo.SprayTaskSprayed;
+import com.qyft.ms.app.model.bo.SprayTaskStep;
 import lombok.Data;
 
 import java.util.List;
@@ -38,7 +38,7 @@ public class SprayTask {
     /**
      * 喷涂步骤列表
      */
-    private final List<List<List<DeviceCommand>>> spraySteps = new CopyOnWriteArrayList<>();
+    private final List<SprayTaskStep> sprayTaskStepList = new CopyOnWriteArrayList<>();
 
     /**
      * 当前正在执行的步骤序号
@@ -48,7 +48,7 @@ public class SprayTask {
     /**
      * 已喷涂点位
      */
-    private volatile List<List<Point2D>> sprayedPoints = new CopyOnWriteArrayList<>();
+    private volatile List<SprayTaskSprayed> sprayTaskSprayedList = new CopyOnWriteArrayList<>();
 
     /**
      * 喷涂参数
@@ -104,9 +104,9 @@ public class SprayTask {
         suspendable = false;
         spraying = false;
         sprayPreStepsCompleted = false;
-        spraySteps.clear();
+        sprayTaskStepList.clear();
         currentStep = 0;
-        sprayedPoints.clear();
+        sprayTaskSprayedList.clear();
     }
 
 }

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

@@ -6,6 +6,7 @@ import com.qyft.ms.app.common.generator.PathGenerator;
 import com.qyft.ms.app.device.spray.SprayTaskExecutor;
 import com.qyft.ms.app.device.status.DeviceStatus;
 import com.qyft.ms.app.device.status.SprayTask;
+import com.qyft.ms.app.model.bo.SprayTaskStep;
 import com.qyft.ms.app.model.entity.OperationLog;
 import com.qyft.ms.app.model.entity.Position;
 import com.qyft.ms.app.service.OperationLogService;
@@ -186,7 +187,10 @@ public class MatrixSprayStart extends BaseCommandHandler {
                             deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY()));//移动y轴
                             deviceCommandList.add(deviceCommands);
                         }
-                        sprayTask.getSpraySteps().add(deviceCommandList);
+                        SprayTaskStep sprayTaskStep = new SprayTaskStep();
+                        sprayTaskStep.setIndex(index);
+                        sprayTaskStep.setSpraySteps(deviceCommandList);
+                        sprayTask.getSprayTaskStepList().add(sprayTaskStep);
                     }
                 } else if ("vertical".equals(matrixPathType)) {
                     for (int i = 0; i < times; i++) {
@@ -209,7 +213,10 @@ public class MatrixSprayStart extends BaseCommandHandler {
                             deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY()));//移动y轴
                             deviceCommandList.add(deviceCommands);
                         }
-                        sprayTask.getSpraySteps().add(deviceCommandList);
+                        SprayTaskStep sprayTaskStep = new SprayTaskStep();
+                        sprayTaskStep.setIndex(index);
+                        sprayTaskStep.setSpraySteps(deviceCommandList);
+                        sprayTask.getSprayTaskStepList().add(sprayTaskStep);
                     }
                 } else if ("grid".equals(matrixPathType)) {
                     for (int i = 0; i < times; i++) {
@@ -236,7 +243,10 @@ public class MatrixSprayStart extends BaseCommandHandler {
                             deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY()));//移动y轴
                             deviceCommandList.add(deviceCommands);
                         }
-                        sprayTask.getSpraySteps().add(deviceCommandList);
+                        SprayTaskStep sprayTaskStep = new SprayTaskStep();
+                        sprayTaskStep.setIndex(index);
+                        sprayTaskStep.setSpraySteps(deviceCommandList);
+                        sprayTask.getSprayTaskStepList().add(sprayTaskStep);
 
                         pathList = PathGenerator.generatePathPoints(
                                 leftReal, rightReal, topReal, bottomReal,
@@ -250,7 +260,10 @@ public class MatrixSprayStart extends BaseCommandHandler {
                             deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY()));//移动y轴
                             deviceCommandList.add(deviceCommands);
                         }
-                        sprayTask.getSpraySteps().add(deviceCommandList);
+                        SprayTaskStep sprayTaskStep2 = new SprayTaskStep();
+                        sprayTaskStep2.setIndex(index);
+                        sprayTaskStep2.setSpraySteps(deviceCommandList);
+                        sprayTask.getSprayTaskStepList().add(sprayTaskStep2);
                     }
                 }
 

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

@@ -0,0 +1,22 @@
+package com.qyft.ms.app.model.bo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+@Schema(description = "喷涂任务已喷涂记录")
+public class SprayTaskSprayed {
+    /**
+     * 玻片序号
+     */
+    @Schema(description = "玻片序号")
+    private Integer index;
+
+    /**
+     * 已喷涂点位
+     */
+    private volatile List<Point2D> sprayedPoints;
+
+}

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

@@ -0,0 +1,22 @@
+package com.qyft.ms.app.model.bo;
+
+import com.qyft.ms.system.model.bo.DeviceCommand;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+@Schema(description = "喷涂任务点位步骤")
+public class SprayTaskStep {
+    /**
+     * 玻片序号
+     */
+    @Schema(description = "玻片序号")
+    private Integer index;
+    /**
+     * 单词喷涂的完整路线步骤
+     */
+    @Schema(description = "单词喷涂的完整路线步骤")
+    private List<List<DeviceCommand>> spraySteps;
+}

src/main/java/com/qyft/ms/app/model/vo/SprayTaskStatusVO.java

@@ -2,6 +2,7 @@ package com.qyft.ms.app.model.vo;
 
 import com.qyft.ms.app.model.bo.Point2D;
 import com.qyft.ms.app.model.bo.SprayParams;
+import com.qyft.ms.app.model.bo.SprayTaskSprayed;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.Data;
 
@@ -18,13 +19,13 @@ public class SprayTaskStatusVO {
      * 已喷涂点位
      */
     @Schema(description = "已喷涂点位")
-    private List<List<Point2D>> sprayedPoints = new CopyOnWriteArrayList<>();
+    private volatile List<SprayTaskSprayed> sprayTaskSprayedList;
 
     /**
      * 喷涂参数
      */
     @Schema(description = "喷涂参数")
-    private SprayParams sprayParams = new SprayParams();
+    private SprayParams sprayParams;
 
 
 }