fix:修复停止喷涂抽搐问题

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

@@ -83,14 +83,14 @@ public class SprayTaskExecutor {
                         //先移动到玻片位置
                         DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(slideArr[sprayTaskStep.getIndex()][0], 20.0);
                         DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorYPositionSet(75.5 - slideArr[sprayTaskStep.getIndex()][1], 20.0);
-                        CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXPositionSetCommand);
-                        CommandFuture motorYPositionSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYPositionSetCommand);
+                        CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXPositionSetCommand);
+                        CommandFuture motorYPositionSetCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYPositionSetCommand);
 
                         SysSettings slideHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper<SysSettings>().eq(SysSettings::getCode, "slide_height"));
                         Double slideHeight = Double.parseDouble(slideHeightSysSettings.getValue());
                         Double height = slideHeight - sprayTask.getSprayParams().getMotorZHeight();//下降z轴高度
                         DeviceCommand motorZPositionSetAboveSlideCommand = DeviceCommandGenerator.motorZPositionSet(height, 15.0);
-                        CommandFuture motorZPositionSetAboveSlideCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZPositionSetAboveSlideCommand);
+                        CommandFuture motorZPositionSetAboveSlideCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZPositionSetAboveSlideCommand);
                         commandWait(motorXPositionSetCommandFuture, motorYPositionSetCommandFuture, motorZPositionSetAboveSlideCommandFuture);
                     }
                     Thread.sleep(100);
@@ -110,7 +110,7 @@ public class SprayTaskExecutor {
                         }
                         if(i == 1){
                             DeviceCommand syringePumpForwardCommand = DeviceCommandGenerator.syringePumpForward(sprayTask.getSprayParams().getVolume());//推动移动注射泵
-                            CommandFuture syringePumpForwardCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpForwardCommand);
+                            CommandFuture syringePumpForwardCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpForwardCommand);
                             commandWait(syringePumpForwardCommandFuture);
                         }
                         sprayTask.setFirstImmobility(true);
@@ -127,12 +127,12 @@ public class SprayTaskExecutor {
                         ySprayStepCommands.getParam().put("position", Double.parseDouble(df.format(aYPoint)));
 
                         if (cacheXPoint != aXPoint) {
-                            CommandFuture commandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), xSprayStepCommands);
+                            CommandFuture commandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), xSprayStepCommands);
                             commandFutureList.add(commandFuture);
                             cacheXPoint = aXPoint;
                         }
                         if (cacheYPoint != aYPoint) {
-                            CommandFuture commandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), ySprayStepCommands);
+                            CommandFuture commandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), ySprayStepCommands);
                             commandFutureList.add(commandFuture);
                             cacheYPoint = aYPoint;
                         }
@@ -160,7 +160,7 @@ public class SprayTaskExecutor {
                     deviceStatus.setSuspendable(false);
                     if (currentStep >= reCurrentStep) {
                         DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop();//停止推动注射泵
-                        CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpStopCommand);
+                        CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpStopCommand);
                         commandWait(syringePumpStopCommandFuture);
                     }
                     sprayCount++;
@@ -168,20 +168,20 @@ public class SprayTaskExecutor {
                 }
 
                 DeviceCommand highVoltageCloseCommand = DeviceCommandGenerator.highVoltageClose();//关闭高压
-                CommandFuture highVoltageCloseCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), highVoltageCloseCommand);
+                CommandFuture highVoltageCloseCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), highVoltageCloseCommand);
                 commandWait(highVoltageCloseCommandFuture);
                 Thread.sleep(500);
                 DeviceCommand nozzleValveCloseCommand = DeviceCommandGenerator.nozzleValveClose();//关闭喷嘴阀
-                CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), nozzleValveCloseCommand);
+                CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), nozzleValveCloseCommand);
                 commandWait(nozzleValveCloseCommandFuture);
 
                 //XYZ回原点
                 DeviceCommand motorXOriginCommand = DeviceCommandGenerator.motorXOrigin();
                 DeviceCommand motorYOriginCommand = DeviceCommandGenerator.motorYOrigin();
                 DeviceCommand motorZOriginCommand = DeviceCommandGenerator.motorZOrigin();
-                CommandFuture motorXOriginCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXOriginCommand);
-                CommandFuture motorYOriginCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYOriginCommand);
-                CommandFuture motorZOriginCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZOriginCommand);
+                CommandFuture motorXOriginCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXOriginCommand);
+                CommandFuture motorYOriginCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYOriginCommand);
+                CommandFuture motorZOriginCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZOriginCommand);
                 commandWait(motorXOriginCommandFuture, motorYOriginCommandFuture, motorZOriginCommandFuture);
 
 

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

@@ -4,6 +4,7 @@ import cn.hutool.json.JSONObject;
 import cn.hutool.json.JSONUtil;
 import com.qyft.ms.app.core.event.VirtualDeviceCmdResponseEvent;
 import com.qyft.ms.app.device.status.DeviceStatus;
+import com.qyft.ms.app.device.status.SprayTask;
 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.CyclicNumberGenerator;
@@ -72,6 +73,14 @@ public class DeviceCommandService {
         return commandFuture;
     }
 
+    public CommandFuture sendCommandSprayTask(String cmdId, String cmdCode, DeviceCommand deviceCommand) throws Exception {
+        SprayTask sprayTask = SprayTask.getInstance();
+        if (sprayTask.isClosing() || Thread.currentThread().isInterrupted()) {
+            throw new InterruptedException();
+        }
+        return sendCommand(cmdId, cmdCode, deviceCommand);
+    }
+
     public void completeCommandResponse(JSONObject deviceResult) {
         Integer cmdId = deviceResult.getInt("cmdId");
         if (cmdId != null) {