fix:回显给前端的坐标需要经过转换

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

@@ -2,15 +2,19 @@ package com.qyft.ms.app.device.spray;
 
 import cn.hutool.json.JSONObject;
 import cn.hutool.json.JSONUtil;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.qyft.ms.app.common.constant.WebSocketMessageType;
 import com.qyft.ms.app.device.status.SprayTask;
 import com.qyft.ms.app.model.bo.Point2D;
 import com.qyft.ms.app.model.bo.SprayTaskPointCollectorPushBO;
+import com.qyft.ms.app.model.entity.Position;
+import com.qyft.ms.app.service.PositionService;
 import com.qyft.ms.system.common.device.command.CommandFuture;
 import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
 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.scheduling.TaskScheduler;
@@ -26,6 +30,7 @@ import java.util.concurrent.ScheduledFuture;
 public class SprayTaskPointCollector {
     private final WebSocketService webSocketService;
     private final DeviceCommandService deviceCommandService;
+    private final PositionService positionService;
 
     private final TaskScheduler taskScheduler;
 
@@ -33,6 +38,21 @@ public class SprayTaskPointCollector {
 
     private int currentSprayIndex;
 
+    private Double[][] slideArr;
+
+    @PostConstruct
+    private void init(){
+        Position slidePosition1 = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "slide_position1"));
+        Position slidePosition2 = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "slide_position2"));
+        Position slidePosition3 = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "slide_position3"));
+        Position slidePosition4 = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "slide_position4"));
+        slideArr = new Double[][] {
+                {slidePosition1.getX(), slidePosition1.getY()},
+                {slidePosition2.getX(), slidePosition2.getY()},
+                {slidePosition3.getX(), slidePosition3.getY()},
+                {slidePosition4.getX(), slidePosition4.getY()}
+        };
+    }
 
     public void startCollecting(int currentSprayIndex) {
         if (scheduledFuture == null || scheduledFuture.isCancelled()) {
@@ -60,10 +80,12 @@ public class SprayTaskPointCollector {
                 stopCollecting();
             }
             DeviceCommand motorXyzPositionGetCommand = DeviceCommandGenerator.motorXyzPositionGet(); //生成电机XYZ相对原点坐标指令
-            CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(motorXyzPositionGetCommand);
+            CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommandNoFront(motorXyzPositionGetCommand);
             JSONObject motorXyzPositionGetCommandResult = motorXyzPositionGetCommandFuture.getResponseResult();
             Double xAxisPosition = motorXyzPositionGetCommandResult.getDouble("xAxisPosition");
             Double yAxisPosition = motorXyzPositionGetCommandResult.getDouble("yAxisPosition");
+            xAxisPosition = xAxisPosition - slideArr[currentSprayIndex][0];
+            yAxisPosition = 75.5 - yAxisPosition;
             Point2D point2D = new Point2D(xAxisPosition, yAxisPosition);
             SprayTaskPointCollectorPushBO sprayTaskPointCollectorPushBO = new SprayTaskPointCollectorPushBO(currentSprayIndex, point2D);
             log.info("喷涂点位采集，采集到点位:{}", JSONUtil.toJsonStr(sprayTaskPointCollectorPushBO));

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

@@ -41,6 +41,30 @@ public class DeviceCommandService {
         return cmdFuture;
     }
 
+
+    public CommandFuture sendCommandNoFront(DeviceCommand deviceCommand) {
+        CommandFuture commandFuture = executeCommand(deviceCommand);
+        commandFuture.getAckFuture().thenApply(result -> {
+            Boolean status = result.getBool("status");
+            if (!status) { //ack失败
+                String message = deviceCommand.getCommandName() + "指令，设备ack错误";
+                throw new RuntimeException(message);
+            }
+            return result;
+        });
+
+        commandFuture.getResponseFuture().thenApply(result -> {
+            Boolean status = result.getBool("status");
+            if (!status) { //response失败
+                String message = deviceCommand.getCommandName() + "指令，设备response错误";
+                throw new RuntimeException(message);
+            }
+            return result.get("data");
+        });
+
+        return commandFuture;
+    }
+
     public CommandFuture sendCommand(DeviceCommand deviceCommand) throws IOException {
         return sendCommand(deviceCommand, null, null);
     }