1

src/main/java/com/iflytop/digester/underframework/connection/UfZcancmderWebsocket.java

@@ -1,4 +1,5 @@
 package com.iflytop.digester.underframework.connection;
+import com.iflytop.digester.underframework.UfApplication;
 import com.iflytop.digester.underframework.dao.model.UfMdbActuator;
 import com.iflytop.digester.underframework.dao.model.UfMdbActuatorCmd;
 import com.iflytop.digester.underframework.dao.record.UfActiveRecord;
@@ -7,10 +8,14 @@ import com.iflytop.digester.underframework.util.UfClassHelper;
 import com.iflytop.digester.underframework.util.UfCommon;
 import org.java_websocket.client.WebSocketClient;
 import org.java_websocket.handshake.ServerHandshake;
+
+import java.io.IOException;
 import java.net.URI;
 import java.net.URISyntaxException;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
+import java.nio.file.Files;
+import java.nio.file.Path;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.Timer;
@@ -307,6 +312,18 @@ public class UfZcancmderWebsocket extends UfConnectionBase {
     // wait for actuator finish
     private void waitForActuatorFinish(UfMdbActuatorCmd actuatorCmd) {
         do {
+            String filePath = UfApplication.getApp().getEnv().getProperty("app.emergency-stop-file-path");
+            if ( null != filePath ) {
+                try { // read all content from file as string
+                    String state = Files.readString(Path.of(filePath));
+                    if ( "0".equals(state.trim()) ) {
+                        return ; // emergency stop triggered
+                    }
+                } catch (IOException e) {
+                    throw new RuntimeException(e);
+                }
+            }
+
             var waitCmd = new UfMdbActuatorCmd();
             waitCmd.actuatorId = actuatorCmd.actuatorId;
             waitCmd.cmdId = "0104";
@@ -319,11 +336,7 @@ public class UfZcancmderWebsocket extends UfConnectionBase {
                 break;
             }
 
-            try {
-                Thread.sleep(100);
-            } catch (InterruptedException e) {
-                throw new RuntimeException(e);
-            }
+            UfCommon.delay(100);
         } while ( true );
     }
 

web

@@ -1 +1 @@
-Subproject commit c4b7e56e2578089ad30d12ebae9b4ece84d0dc6e
+Subproject commit 5a7f6a25bf34e2609d3789d1920e9cbd59d5e075