我也不知道改了什么

src/main/java/com/qyft/ms/app/common/generator/PathGenerator.java

@@ -48,18 +48,18 @@ public class PathGenerator {
         double effBottom = bottom - spacing;
 
         // 若收缩后无空间，则返回空集合
-        if (effLeft > effRight || effTop > effBottom) {
-            System.out.println("内缩后无有效空间，返回空路径");
-            return new ArrayList<>();
-        }
+//        if (effLeft > effRight || effTop > effBottom) {
+//            System.out.println("内缩后无有效空间，返回空路径");
+//            return new ArrayList<>();
+//        }
 
         // 2) 根据mode选择不同的之字形算法
         return switch (mode) {
             case HORIZONTAL_ZIGZAG_TOP_DOWN -> generateHorizontalZigzagTopDown(
-                    effLeft, effRight, effTop, effBottom, spacing
+                    left, right, top, bottom, spacing
             );
             case VERTICAL_ZIGZAG_LEFT_RIGHT -> generateVerticalZigzagLeftRight(
-                    effLeft, effRight, effTop, effBottom, spacing
+                    left, right, top, bottom, spacing
             );
             default ->
                 // 预留给更多模式扩展

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

@@ -24,7 +24,7 @@ public class SprayTaskController {
         SprayTask sprayTask = SprayTask.getInstance();
         SprayTaskStatusVO sprayTaskStatusVO = new SprayTaskStatusVO();
         sprayTaskStatusVO.setSprayTaskSprayedList(sprayTask.getSprayTaskSprayedList());
-        sprayTaskStatusVO.setSprayParams(sprayTask.getSprayParams());
+        sprayTaskStatusVO.setSprayParams(sprayTask.getCacheParams());
         return Result.success(sprayTaskStatusVO);
     }
 

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

@@ -36,14 +36,10 @@ public class SensorCollector {
                 Double deviceHumidity = humidityGetCmdFutureResult.getDouble("humidity");
                 Map<String, Object> map = new HashMap<>();
                 map.put("humidity", deviceHumidity);
-                webSocketService.pushMsg(WebSocketMessageType.SENSOR, map);
-            } catch (Exception e) {
-                if (!executorService.isShutdown()) {
-                    executorService.shutdown(); // 关闭 ScheduledExecutorService
-                }
-                log.error("定时推送传感器状态错误", e);
+                webSocketService.pushMsgNoLog(WebSocketMessageType.SENSOR, map);
+            } catch (Exception ignored) {
             }
-        }, 10, 3000, TimeUnit.MILLISECONDS);
+        }, 10, 3, TimeUnit.SECONDS);
     }
 
     private void commandWait(CommandFuture... futures) throws ExecutionException, InterruptedException {
@@ -51,7 +47,7 @@ public class SensorCollector {
                 .map(CommandFuture::getResponseFuture)
                 .toArray(CompletableFuture[]::new);
         CompletableFuture.allOf(responseFutures)
-                .orTimeout(120, TimeUnit.SECONDS)
+                .orTimeout(1, TimeUnit.SECONDS)
                 .get();
     }
 }

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

@@ -12,13 +12,16 @@ 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.constant.CommandStatus;
 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.FrontResponseGenerator;
 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 lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
 import java.util.ArrayList;
@@ -28,6 +31,7 @@ import java.util.concurrent.CompletableFuture;
 import java.util.concurrent.ExecutionException;
 import java.util.concurrent.TimeUnit;
 
+@Slf4j
 @Component
 @RequiredArgsConstructor
 public class SprayTaskExecutor {
@@ -60,14 +64,14 @@ public class SprayTaskExecutor {
      * 启动任务线程，如果线程已存在且正在运行则不重复启动
      */
     public synchronized void startTask() {
+        SprayTask sprayTask = SprayTask.getInstance();
         if (taskThread != null && taskThread.isAlive()) {
-            webSocketService.pushMsg(WebSocketMessageType.CMD_DEBUG, "设备正在喷涂，请先停止喷涂");
+            webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.ERROR, "设备正在喷涂，请先停止喷涂"));
             return;
         }
         taskThread = new Thread(() -> {
             try {
-                webSocketService.pushMsg(WebSocketMessageType.CMD_DEBUG, "喷涂任务线程启动");
-                SprayTask sprayTask = SprayTask.getInstance();
+                webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.START, "喷涂任务开始执行"));
                 if (!sprayTask.isSprayPreStepsCompleted()) {
                     //XYZ回原点
                     DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(0.0);
@@ -98,6 +102,7 @@ public class SprayTaskExecutor {
 
                 int reCurrentStep = sprayTask.getCurrentStep();
                 int currentStep = 0; //当前喷涂步骤
+                int sprayNum = 1;
                 for (SprayTaskStep sprayTaskStep : sprayTask.getSprayTaskStepList()) {//循环进行多次喷涂
 
                     DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen();//开启喷嘴阀
@@ -111,7 +116,7 @@ public class SprayTaskExecutor {
                     deviceStatus.setSuspendable(true);
                     for (int i = 0; i < sprayTaskStep.getSpraySteps().size(); i++) {//单次喷涂
                         if (currentStep < reCurrentStep) {
-                            break;
+                            continue;
                         }
                         List<DeviceCommand> sprayStepCommands = sprayTaskStep.getSpraySteps().get(i);
                         List<CommandFuture> commandFutureList = new ArrayList<>();
@@ -132,7 +137,7 @@ public class SprayTaskExecutor {
                             double nextXPoint = (Double) sprayStepCommands.get(0).getParam().get("position") - slideArr[sprayTaskStep.getIndex()][0];
                             double nextYPoint = 75.5 - (Double) sprayStepCommands.get(1).getParam().get("position");
                             nextPoint = new Point2D(nextXPoint, nextYPoint);
-                            SprayTaskPointCollectorPushBO sprayTaskPointCollectorPushBO = new SprayTaskPointCollectorPushBO(sprayTaskStep.getIndex(), currentPoint, nextPoint);
+                            SprayTaskPointCollectorPushBO sprayTaskPointCollectorPushBO = new SprayTaskPointCollectorPushBO(sprayTask.getCmdId(), sprayTask.getCmdCode(), sprayTaskStep.getIndex(), sprayNum, currentPoint, nextPoint);
                             webSocketService.pushMsg(WebSocketMessageType.SPRAY_POINT, sprayTaskPointCollectorPushBO);
                         }
                         commandWait(commandFutureArray);
@@ -141,22 +146,23 @@ public class SprayTaskExecutor {
                         sprayTask.setCurrentStep(currentStep);//将当前的喷涂进度缓存
                         if (nextPoint != null) {
                             //将当前点位缓存
-                            sprayStepList.add(new Point2D(nextPoint.getX(), nextPoint.getY()));
+                            SprayTaskSprayed sprayTaskSprayed = new SprayTaskSprayed();
+                            sprayTaskSprayed.setNumber(sprayNum);
+                            sprayTaskSprayed.setIndex(sprayTaskStep.getIndex());
+                            sprayTaskSprayed.setSprayedPoints(new Point2D(nextPoint.getX(), nextPoint.getY()));
+                            sprayTask.getSprayTaskSprayedList().add(sprayTaskSprayed);
                         }
                     }
                     sprayTask.setSuspendable(false);//不可暂停
                     deviceStatus.setSuspendable(false);
-                    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
                     CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), nozzleValveCloseCommand);
                     CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpStopCommand);
                     commandWait(nozzleValveCloseCommandFuture, syringePumpStopCommandFuture);
+                    sprayNum++;
                 }
-
                 DeviceCommand highVoltageCloseCommand = DeviceCommandGenerator.highVoltageClose();//关闭高压
                 CommandFuture highVoltageCloseCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), highVoltageCloseCommand);
                 commandWait(highVoltageCloseCommandFuture);
@@ -169,21 +175,31 @@ public class SprayTaskExecutor {
                 CommandFuture motorYPositionSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYPositionSetCommand);
                 CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZPositionSetCommand);
                 commandWait(motorXPositionSetCommandFuture, motorYPositionSetCommandFuture, motorZPositionSetCommandFuture);
-                webSocketService.pushMsg(WebSocketMessageType.CMD_DEBUG, "喷涂任务执行完毕");
+
+                SprayTask.getInstance().clear();
+                deviceStatus.setSpraying(false);
+                deviceStatus.setSuspendable(false);
+                deviceStatus.setSuspendable(false);
+
+                webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SUCCESS, "喷涂任务执行成功"));
+                webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SPRAY_TASK_FINISH, "喷涂任务结束"));
             } catch (InterruptedException e) {
-                webSocketService.pushMsg(WebSocketMessageType.CMD_DEBUG, "喷涂任务线程停止");
+                deviceStatus.setSuspendable(false);
+                webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SEND, "喷涂任务线程停止"));
                 Thread.currentThread().interrupt();
             } catch (Exception e) {
-                webSocketService.pushMsg(WebSocketMessageType.CMD_DEBUG, "喷涂任务线程异常:" + e.getMessage());
+                log.info("喷涂任务失败", e);
+                SprayTask.getInstance().clear();
+                deviceStatus.setSpraying(false);
+                deviceStatus.setSuspendable(false);
+                deviceStatus.setSuspendable(false);
+                webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.FAIL, "喷涂任务执行失败"));
+                webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SPRAY_TASK_FINISH, "喷涂任务结束"));
             } finally {
-                webSocketService.pushMsg(WebSocketMessageType.CMD_DEBUG, "喷涂任务线程退出");
+                webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SEND, "喷涂任务线程退出"));
                 // 在线程结束后将 taskThread 设置为 null，保证状态一致和资源释放
                 synchronized (this) {
                     taskThread = null;
-                    SprayTask.getInstance().clear();
-                    deviceStatus.setSpraying(false);
-                    deviceStatus.setPaused(false);
-                    deviceStatus.setSuspendable(false);
                 }
             }
         });
@@ -198,7 +214,6 @@ public class SprayTaskExecutor {
      */
     public synchronized void stopTask() {
         if (taskThread != null && taskThread.isAlive()) {
-            webSocketService.pushMsg(WebSocketMessageType.CMD_DEBUG, "停止喷涂任务线程");
             // 中断线程，使得 future.get() 能够抛出 InterruptedException，从而退出等待
             taskThread.interrupt();
         }

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

@@ -48,6 +48,10 @@ public class SprayTask {
      * 当前正在执行的步骤序号
      */
     private volatile int currentStep = 0;
+    /**
+     * 缓存前端的参数
+     */
+    private Map<String, Object> cacheParams = null;
 
     /**
      * 已喷涂点位
@@ -107,6 +111,7 @@ public class SprayTask {
         sprayTaskStepList.clear();
         currentStep = 0;
         sprayTaskSprayedList.clear();
+        cacheParams = null;
     }
 
     private static class Holder {

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

@@ -33,6 +33,9 @@ public class DehumidifierStart extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(FrontCmdControlForm form) {
+        if (deviceStatus.isDehumidifierRunning()) {
+            throw new RuntimeException("正在除湿中，无法再次开启除湿");
+        }
         Double humidity = form.getDoubleParam("humidity");
         // 参数校验：humidity 必填
         if (humidity == null) {

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

@@ -5,11 +5,14 @@ import com.qyft.ms.app.device.status.SprayTask;
 import com.qyft.ms.app.model.entity.SysSettings;
 import com.qyft.ms.app.service.SysSettingsService;
 import com.qyft.ms.system.common.annotation.CommandMapping;
+import com.qyft.ms.system.common.constant.CommandStatus;
 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.FrontResponseGenerator;
 import com.qyft.ms.system.core.handler.BaseCommandHandler;
 import com.qyft.ms.system.model.bo.DeviceCommand;
 import com.qyft.ms.system.model.form.FrontCmdControlForm;
+import com.qyft.ms.system.service.WebSocketService;
 import com.qyft.ms.system.service.device.DeviceCommandService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -28,6 +31,7 @@ public class MatrixSprayChangeParam extends BaseCommandHandler {
 
     private final DeviceCommandService deviceCommandService;
     private final SysSettingsService sysSettingsService;
+    private final WebSocketService webSocketService;
 
     @Override
     public CompletableFuture<Void> handle(FrontCmdControlForm form) {
@@ -39,7 +43,10 @@ public class MatrixSprayChangeParam extends BaseCommandHandler {
         Double highVoltageValue = form.getDoubleParam("highVoltageValue");
         Double movingSpeed = form.getDoubleParam("movingSpeed");
         sprayTask.setChangeSprayParam(motorZHeight, gasPressure, volume, highVoltage, highVoltageValue, movingSpeed);
-
+        if (highVoltageValue > 6000) {
+            webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.ERROR, "电压不能大于6000V"));
+            throw new RuntimeException("电压不能大于6000V");
+        }
         return runAsync(() -> {
             //1.速度
             DeviceCommand motorXSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorXSpeedSet(movingSpeed);//x轴电机速度设置

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

@@ -8,6 +8,7 @@ import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
 import com.qyft.ms.system.core.handler.BaseCommandHandler;
 import com.qyft.ms.system.model.bo.DeviceCommand;
 import com.qyft.ms.system.model.form.FrontCmdControlForm;
+import com.qyft.ms.system.service.WebSocketService;
 import com.qyft.ms.system.service.device.DeviceCommandService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -29,8 +30,11 @@ public class MatrixSprayContinue extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(FrontCmdControlForm form) {
+        SprayTask sprayTask = SprayTask.getInstance();
+        if (!sprayTask.isSpraying()) {
+            throw new RuntimeException("设备没有正在喷涂");
+        }
         return runAsync(() -> {
-            SprayTask sprayTask = SprayTask.getInstance();
             DeviceCommand syringePumpForwardCommand = DeviceCommandGenerator.syringePumpForward(sprayTask.getSprayParams().getVolume()); //推动注射泵
             CommandFuture syringePumpForwardCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpForwardCommand);
             DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen(); //打开喷嘴阀

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

@@ -5,10 +5,8 @@ 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.system.common.annotation.CommandMapping;
-import com.qyft.ms.system.common.constant.CommandStatus;
 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.FrontResponseGenerator;
 import com.qyft.ms.system.core.handler.BaseCommandHandler;
 import com.qyft.ms.system.model.bo.DeviceCommand;
 import com.qyft.ms.system.model.form.FrontCmdControlForm;
@@ -32,36 +30,33 @@ public class MatrixSprayPause extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
     private final SprayTaskExecutor sprayTaskExecutor;
     private final DeviceStatus deviceStatus;
-    private final WebSocketService webSocketService;
 
     @Override
     public CompletableFuture<Void> handle(FrontCmdControlForm form) {
+        SprayTask sprayTask = SprayTask.getInstance();
+        if (!sprayTask.isSuspendable()) {
+            throw new RuntimeException("当前喷涂任务不可暂停");
+        }
+        sprayTask.setPaused(true);
+        deviceStatus.setPaused(true);
         return runAsync(() -> {
-            SprayTask sprayTask = SprayTask.getInstance();
-
-            if (sprayTask.isSuspendable()) {
-                sprayTaskExecutor.stopTask();//终止喷涂任务线程
-
-                DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop(); //停止推动注射泵
-                CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpStopCommand);
-                DeviceCommand nozzleValveCloseCommand = DeviceCommandGenerator.nozzleValveClose(); //关闭喷嘴阀
-                CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleValveCloseCommand);
-                DeviceCommand highVoltageCloseCommand = DeviceCommandGenerator.highVoltageClose(); //关闭高压
-                CommandFuture highVoltageCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), highVoltageCloseCommand);
-                commandWait(syringePumpStopCommandFuture, nozzleValveCloseCommandFuture, highVoltageCloseCommandFuture);
-
-                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);
-                sprayTask.setPaused(true);
-                deviceStatus.setPaused(true);
-            } else {
-                webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.ERROR, "当前喷涂任务不可暂停"));
-            }
+            sprayTaskExecutor.stopTask();//终止喷涂任务线程
+
+            DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop(); //停止推动注射泵
+            CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpStopCommand);
+            DeviceCommand nozzleValveCloseCommand = DeviceCommandGenerator.nozzleValveClose(); //关闭喷嘴阀
+            CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleValveCloseCommand);
+            DeviceCommand highVoltageCloseCommand = DeviceCommandGenerator.highVoltageClose(); //关闭高压
+            CommandFuture highVoltageCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), highVoltageCloseCommand);
+            commandWait(syringePumpStopCommandFuture, nozzleValveCloseCommandFuture, highVoltageCloseCommandFuture);
+
+            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);
         });
     }
 }

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

@@ -27,6 +27,7 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
+import java.text.DecimalFormat;
 import java.util.ArrayList;
 import java.util.LinkedHashMap;
 import java.util.List;
@@ -143,9 +144,10 @@ public class MatrixSprayStart extends BaseCommandHandler {
         return runAsync(() -> {
             // 3. 设定喷涂参数
             sprayTask.setSprayParam(matrixPathType, motorZHeight, gasPressure, volume, highVoltage, highVoltageValue, spacing, movingSpeed, times, positionList);
+            sprayTask.setCacheParams(form.getParams());
 
             OperationLog operationLog = new OperationLog();
-            operationLog.setMatrixInfo(JSONUtil.toJsonStr(sprayTask.getSprayParams()));
+            operationLog.setMatrixInfo(JSONUtil.toJsonStr(sprayTask.getCacheParams()));
             operationLogService.add(operationLog);
 
             //1.速度
@@ -177,24 +179,27 @@ public class MatrixSprayStart extends BaseCommandHandler {
                 Double[] upperLeft = {((Number) position.get("x1")).doubleValue(), ((Number) position.get("y1")).doubleValue()}; //范围左上角 x1，y1
                 Double[] lowerRight = {((Number) position.get("x2")).doubleValue(), ((Number) position.get("y2")).doubleValue()}; //范围右下角 x2，y2
                 Double[] slide = slideArr[index];//获取玻片的坐标
-                Double slideCompleteUCSX = slide[0] + upperLeft[0]; //玻片范围的实际位置x坐标
-                Double slideCompleteUCSY = slide[1] + upperLeft[1]; //玻片范围的实际位置y坐标
                 //规划路线坐标
-                double left = slideCompleteUCSX + upperLeft[0];
-                double right = slideCompleteUCSX + lowerRight[0];
-                double top = slideCompleteUCSY + upperLeft[1];
-                double bottom = slideCompleteUCSY + lowerRight[1];
+                DecimalFormat df = new DecimalFormat("#.##");
+                double left = Double.parseDouble(df.format( slide[0] + upperLeft[0]));
+                double right = Double.parseDouble(df.format( slide[0] + lowerRight[0]));
+                double top = Double.parseDouble(df.format(slide[1] + upperLeft[1]));
+                double bottom = Double.parseDouble(df.format(slide[1] + lowerRight[1]));
                 if ("horizontal".equals(matrixPathType)) {//喷涂路径类型 horizontal 横向 | vertical 纵向 | grid 网格先横向后纵向
-                    for (int i = 0; i < times; i++) {
+                    for (int i = 1; i <= times; i++) {
                         double topReal = top;
                         double bottomReal = bottom;
-                        if (i != 0 && i % 2 == 0) {//双数喷涂，插空移动边界
+                        double leftReal = left;
+                        double rightReal = right;
+                        if (i % 2 == 0) {//双数喷涂，插空移动边界
                             double halfSpacing = spacing / 2;
-                            topReal = top - halfSpacing;
-                            bottomReal = bottom + halfSpacing;
+                            topReal = top + halfSpacing;
+                            bottomReal = bottomReal - halfSpacing;
+                            leftReal = left + halfSpacing;
+                            rightReal = right - halfSpacing;
                         }
                         List<PathGenerator.Points> pathList = PathGenerator.generatePathPoints(
-                                left, right, topReal, bottomReal,
+                                leftReal, rightReal, topReal, bottomReal,
                                 spacing,
                                 PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN
                         );
@@ -211,16 +216,20 @@ public class MatrixSprayStart extends BaseCommandHandler {
                         sprayTask.getSprayTaskStepList().add(sprayTaskStep);
                     }
                 } else if ("vertical".equals(matrixPathType)) {
-                    for (int i = 0; i < times; i++) {
+                    for (int i = 1; i <= times; i++) {
+                        double topReal = top;
+                        double bottomReal = bottom;
                         double leftReal = left;
                         double rightReal = right;
-                        if (i != 0 && i % 2 == 0) {//双数喷涂，插空移动边界
+                        if (i % 2 == 0) {//双数喷涂，插空移动边界
                             double halfSpacing = spacing / 2;
-                            leftReal = top - halfSpacing;
-                            rightReal = bottom + halfSpacing;
+                            topReal = top + halfSpacing;
+                            bottomReal = bottomReal - halfSpacing;
+                            leftReal = left + halfSpacing;
+                            rightReal = right - halfSpacing;
                         }
                         List<PathGenerator.Points> pathList = PathGenerator.generatePathPoints(
-                                leftReal, rightReal, top, bottom,
+                                leftReal, rightReal, topReal, bottomReal,
                                 spacing,
                                 PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT
                         );
@@ -237,22 +246,22 @@ public class MatrixSprayStart extends BaseCommandHandler {
                         sprayTask.getSprayTaskStepList().add(sprayTaskStep);
                     }
                 } else if ("grid".equals(matrixPathType)) {
-                    for (int i = 0; i < times; i++) {
-                        double leftReal = left;
-                        double rightReal = right;
+                    for (int i = 1; i <= times; i++) {
                         double topReal = top;
                         double bottomReal = bottom;
-                        if (i != 0 && i % 2 == 0) {//双数喷涂，插空移动边界
-                            double halfSpacing = spacing / 2;
-                            leftReal = top - halfSpacing;
-                            rightReal = bottom + halfSpacing;
-                            topReal = top - halfSpacing;
-                            bottomReal = bottom + halfSpacing;
+                        double leftReal = left;
+                        double rightReal = right;
+                        double halfSpacing = spacing / 2;
+                        if (i % 2 == 0) {//双数喷涂，插空移动边界
+                            topReal = top + halfSpacing;
+                            bottomReal = bottomReal - halfSpacing;
+                            leftReal = left + halfSpacing;
+                            rightReal = right - halfSpacing;
                         }
                         List<PathGenerator.Points> pathList = PathGenerator.generatePathPoints(
                                 leftReal, rightReal, topReal, bottomReal,
                                 spacing,
-                                PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT
+                                PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN
                         );
                         List<List<DeviceCommand>> deviceCommandList = new ArrayList<>();
                         for (PathGenerator.Points p : pathList) {//喷针移动目标位置

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

@@ -40,11 +40,15 @@ public class NozzlePipelinePreFill extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(FrontCmdControlForm form) {
+        if (deviceStatus.isPrefilling()) {
+            throw new RuntimeException("正在预充中，无法再次开启预充");
+        }
         Double speed = form.getDoubleParam("speed");
         if (speed == null) {
             webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.ERROR, "参数 speed 必填"));
             throw new RuntimeException("参数 speed 必填");
         }
+        deviceStatus.setPrefilling(true);
         return runAsync(() -> {
             //2.判断z轴是否在安全距离，如果不在安全距离可以不抬升z轴
             DeviceCommand motorXyzPositionGetCommand = DeviceCommandGenerator.motorXyzPositionGet();
@@ -83,8 +87,6 @@ public class NozzlePipelinePreFill extends BaseCommandHandler {
             DeviceCommand syringePumpStartCommand = DeviceCommandGenerator.syringePumpForward(speed); // 生成移动注射泵指令
             CommandFuture syringePumpStartCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpStartCommand);
             commandWait(syringePumpStartCommandFuture);
-
-            deviceStatus.setPrefilling(true);
         });
 
     }

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

@@ -1,15 +1,26 @@
 package com.qyft.ms.app.model.bo;
 
-import com.fasterxml.jackson.annotation.JsonInclude;
 import lombok.Data;
 
 @Data
 public class SprayTaskPointCollectorPushBO {
     /**
-     * 当前是第几次喷涂
+     * 指令id
+     */
+    String cmdId;
+    /**
+     * 指令code
+     */
+    String cmdCode;
+    /**
+     * 当前是第几个玻片 从0开始
      */
     Integer index;
     /**
+     * 当前玻片是第几次喷涂
+     */
+    Integer number;
+    /**
      * 当前点位坐标
      */
     Point2D currentPoint;
@@ -18,8 +29,11 @@ public class SprayTaskPointCollectorPushBO {
      */
     Point2D nextPoint;
 
-    public SprayTaskPointCollectorPushBO(Integer index, Point2D currentPoint, Point2D nextPoint) {
+    public SprayTaskPointCollectorPushBO(String cmdId, String cmdCode, Integer index, Integer number, Point2D currentPoint, Point2D nextPoint) {
+        this.cmdId = cmdId;
+        this.cmdCode = cmdCode;
         this.index = index;
+        this.number = number;
         this.currentPoint = currentPoint;
         this.nextPoint = nextPoint;
     }

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

@@ -13,10 +13,13 @@ public class SprayTaskSprayed {
      */
     @Schema(description = "玻片序号")
     private Integer index;
-
+    /**
+     * 当前玻片是第几次喷涂
+     */
+    Integer number;
     /**
      * 已喷涂点位
      */
-    private volatile List<Point2D> sprayedPoints;
+    private volatile Point2D sprayedPoints;
 
 }

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

@@ -6,6 +6,7 @@ import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.Data;
 
 import java.util.List;
+import java.util.Map;
 
 /**
  * 喷涂状态VO
@@ -23,7 +24,7 @@ public class SprayTaskStatusVO {
      * 喷涂参数
      */
     @Schema(description = "喷涂参数")
-    private SprayParams sprayParams;
+    private Map<String,Object> sprayParams;
 
 
 }

src/main/java/com/qyft/ms/system/common/constant/CommandStatus.java

@@ -30,6 +30,10 @@ public class CommandStatus {
      */
     public static final String FAIL = "fail";
     /**
+     * 指令执行失败
+     */
+    public static final String SPRAY_TASK_FINISH = "spray_task_finish";
+    /**
      * 业务指令处理完毕反馈
      */
     public static final String FINISH = "finish";

src/main/java/com/qyft/ms/system/core/client/DeviceTcpClient.java

@@ -111,7 +111,7 @@ public class DeviceTcpClient {
      */
     public boolean send(String request) {
         if (channel != null && channel.isActive()) {
-            log.info("向设备发送TCP指令：{}", request);
+//            log.info("向设备发送TCP指令：{}", request);
             channel.writeAndFlush(Unpooled.copiedBuffer(request, CharsetUtil.UTF_8));
             return true;
         } else {

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

@@ -29,7 +29,7 @@ public class DeviceMessageHandler extends ChannelInboundHandlerAdapter {
         }
         try {
             String serverMsg = buf.toString(CharsetUtil.UTF_8);
-            log.info("serverMsg: {}", serverMsg);
+//            log.info("serverMsg: {}", serverMsg);
             JSONObject deviceResult = JSONUtil.parseObj(serverMsg);
             publisher.publishEvent(new DeviceTcpMessageEvent(this, deviceResult));
         } catch (Exception e) {

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

@@ -18,6 +18,20 @@ public class WebSocketServer {
     // 消息按顺序发送，加锁
     private static final Object sendLock = new Object();
 
+    public static void sendMessageToClientsNoLog(String message) {
+        synchronized (sendLock) {
+            for (Session session : sessions) {
+                if (session.isOpen()) {
+                    try {
+                        session.getBasicRemote().sendText(message);
+                    } catch (IOException ignored) {
+                    }
+                }
+            }
+        }
+    }
+
+
     /**
      * 群发消息给所有客户端
      */

src/main/java/com/qyft/ms/system/service/WebSocketService.java

@@ -11,11 +11,17 @@ import org.springframework.stereotype.Service;
 @Service
 public class WebSocketService {
 
+    public void pushMsgNoLog(String type, Object data) {
+        WebSocketMessage websocketResult = new WebSocketMessage();
+        websocketResult.setType(type);
+        websocketResult.setData(data);
+        WebSocketServer.sendMessageToClientsNoLog(JSONUtil.toJsonStr(websocketResult));
+    }
+
     public void pushMsg(String type, Object data) {
         WebSocketMessage websocketResult = new WebSocketMessage();
         websocketResult.setType(type);
         websocketResult.setData(data);
-        // 发送消息给客户端
         WebSocketServer.sendMessageToClients(JSONUtil.toJsonStr(websocketResult));
     }