diff --git a/src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayStart.java b/src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayStart.java
index 7e9f684..f6d4766 100644
--- a/src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayStart.java
+++ b/src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayStart.java
@@ -235,7 +235,6 @@ public class MatrixSprayStart implements CommandHandler {
                             if (pathSpray(emitter, frontCmdId, frontCmdName, volume, pathList, movingSpeed))
                                 return;//路径喷涂
                             if (i + 1 != times) { //如果不是最后一次，执行完毕后回到玻片原点
-                                log.info("123");
                                 latch = new CountDownLatch(2);
                                 deviceMessageHandler.setLatch(latch);
                                 if (moveX(emitter, slide[0], frontCmdId, frontCmdName)) return;
@@ -265,7 +264,6 @@ public class MatrixSprayStart implements CommandHandler {
                             if (pathSpray(emitter, frontCmdId, frontCmdName, volume, pathList, movingSpeed))
                                 return;//路径喷涂
                             if (i + 1 != times) { //如果不是最后一次，执行完毕后回到玻片原点
-                                log.info("123");
                                 latch = new CountDownLatch(2);
                                 deviceMessageHandler.setLatch(latch);
                                 if (moveX(emitter, slide[0], frontCmdId, frontCmdName)) return;
@@ -306,7 +304,6 @@ public class MatrixSprayStart implements CommandHandler {
                             if (pathSpray(emitter, frontCmdId, frontCmdName, volume, pathList, movingSpeed))
                                 return;//路径喷涂
                             if (i + 1 != times) { //如果不是最后一次，执行完毕后回到玻片原点
-                                log.info("123");
                                 latch = new CountDownLatch(2);
                                 deviceMessageHandler.setLatch(latch);
                                 if (moveX(emitter, slide[0], frontCmdId, frontCmdName)) return;
@@ -384,11 +381,13 @@ public class MatrixSprayStart implements CommandHandler {
             emitter.complete();
             return true;
         }
-        Boolean motorXSpeedSetStatus = motorXSpeedSetResult.getBool("result");
-        if (!motorXSpeedSetStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "x轴电机速度设置指令执行失败", motorXSpeedSetResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return true;
+        Object motorXSpeedSetStatus = motorXSpeedSetResult.getObj("result");
+        if (motorXSpeedSetStatus instanceof Boolean) {
+            if (!(Boolean) motorXSpeedSetStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "x轴电机速度设置指令执行失败", motorXSpeedSetResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return true;
+            }
         }
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "x轴电机速度设置指令反馈", motorXSpeedSetResult), MediaType.APPLICATION_JSON);
 
@@ -481,11 +480,13 @@ public class MatrixSprayStart implements CommandHandler {
             return true;
         }
 
-        Boolean highVoltageCloseStatus = highVoltageCloseResult.getBool("result");
-        if (!highVoltageCloseStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭高压电指令执行失败", highVoltageCloseResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return true;
+        Object highVoltageCloseStatus = highVoltageCloseResult.getObj("result");
+        if (highVoltageCloseStatus instanceof Boolean) {
+            if (!(Boolean) highVoltageCloseStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭高压电指令执行失败", highVoltageCloseResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return true;
+            }
         }
 
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "关闭高压电指令反馈", highVoltageCloseResult), MediaType.APPLICATION_JSON);
@@ -541,12 +542,15 @@ public class MatrixSprayStart implements CommandHandler {
             emitter.complete();
             return true;
         }
-        Boolean nozzleValveCloseCMDToDeviceResultStatus = nozzleValveCloseCMDToDeviceResult.getBool("result");
-        if (!nozzleValveCloseCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭喷嘴阀指令执行失败", nozzleValveCloseCMDToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return true;
+        Object nozzleValveCloseCMDToDeviceResultStatus = nozzleValveCloseCMDToDeviceResult.getObj("result");
+        if (nozzleValveCloseCMDToDeviceResultStatus instanceof Boolean) {
+            if (!(Boolean) nozzleValveCloseCMDToDeviceResultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭喷嘴阀指令执行失败", nozzleValveCloseCMDToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return true;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "关闭喷嘴阀指令反馈", nozzleValveCloseCMDToDeviceResult), MediaType.APPLICATION_JSON);
         return false;
     }
@@ -572,11 +576,14 @@ public class MatrixSprayStart implements CommandHandler {
             emitter.complete();
             return true;
         }
-        Boolean syringePumpStopCMDToDeviceResultStatus = syringePumpStopCMDToDeviceResult.getBool("result");
-        if (!syringePumpStopCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "停止推动注射泵指令执行失败", syringePumpStopCMDToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return true;
+
+        Object syringePumpStopCMDToDeviceResultStatus = syringePumpStopCMDToDeviceResult.getObj("result");
+        if (syringePumpStopCMDToDeviceResultStatus instanceof Boolean) {
+            if (!(Boolean) syringePumpStopCMDToDeviceResultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "停止推动注射泵指令执行失败", syringePumpStopCMDToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return true;
+            }
         }
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "停止推动注射泵指令反馈", syringePumpStopCMDToDeviceResult), MediaType.APPLICATION_JSON);
         return false;
@@ -762,12 +769,16 @@ public class MatrixSprayStart implements CommandHandler {
             emitter.complete();
             return true;
         }
-        Boolean motorXOriginResultStatus = motorXOriginResult.getBool("result");
-        if (!motorXOriginResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "x轴回原点指令执行失败", motorXOriginResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return true;
+
+        Object motorXOriginResultStatus = motorXOriginResult.getObj("result");
+        if (motorXOriginResultStatus instanceof Boolean) {
+            if (!(Boolean) motorXOriginResultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "x轴回原点指令执行失败", motorXOriginResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return true;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "x轴回原点指令反馈", motorXOriginResult), MediaType.APPLICATION_JSON);
         return false;
     }
@@ -795,11 +806,13 @@ public class MatrixSprayStart implements CommandHandler {
             emitter.complete();
             return true;
         }
-        Boolean motorYOriginResultStatus = motorYOriginResult.getBool("result");
-        if (!motorYOriginResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "y轴回原点指令执行失败", motorYOriginResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return true;
+        Object motorYOriginResultStatus = motorYOriginResult.getObj("result");
+        if (motorYOriginResultStatus instanceof Boolean) {
+            if (!(Boolean) motorYOriginResultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "y轴回原点指令执行失败", motorYOriginResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return true;
+            }
         }
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "y轴回原点指令反馈", motorYOriginResult), MediaType.APPLICATION_JSON);
         return false;
@@ -826,12 +839,15 @@ public class MatrixSprayStart implements CommandHandler {
             emitter.complete();
             return true;
         }
-        Boolean threeWayValveOpenSyringePipelineCMDToDeviceResultStatus = threeWayValveOpenSyringePipelineCMDToDeviceResult.getBool("result");
-        if (!threeWayValveOpenSyringePipelineCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开三通阀喷嘴管路指令执行失败", threeWayValveOpenSyringePipelineCMDToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return true;
+        Object threeWayValveOpenSyringePipelineCMDToDeviceResultStatus = threeWayValveOpenSyringePipelineCMDToDeviceResult.getObj("result");
+        if (threeWayValveOpenSyringePipelineCMDToDeviceResultStatus instanceof Boolean) {
+            if (!(Boolean) threeWayValveOpenSyringePipelineCMDToDeviceResultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开三通阀喷嘴管路指令执行失败", threeWayValveOpenSyringePipelineCMDToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return true;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "打开三通阀喷嘴管路指令反馈", threeWayValveOpenSyringePipelineCMDToDeviceResult), MediaType.APPLICATION_JSON);
         return false;
     }
@@ -857,11 +873,13 @@ public class MatrixSprayStart implements CommandHandler {
             emitter.complete();
             return true;
         }
-        Boolean highVoltageOpenStatus = highVoltageOpenResult.getBool("result");
-        if (!highVoltageOpenStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "开启高压指令执行失败", highVoltageOpenResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return true;
+        Object highVoltageOpenStatus = highVoltageOpenResult.getObj("result");
+        if (highVoltageOpenStatus instanceof Boolean) {
+            if (!(Boolean) highVoltageOpenStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "开启高压指令执行失败", highVoltageOpenResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return true;
+            }
         }
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "开启高压指令反馈", highVoltageOpenResult), MediaType.APPLICATION_JSON);
         return false;
@@ -889,12 +907,15 @@ public class MatrixSprayStart implements CommandHandler {
             return true;
         }
 
-        Boolean motorZPositionSetDownCmdToDeviceResultStatus = motorZPositionSetDownCmdToDeviceResult.getBool("result");
-        if (!motorZPositionSetDownCmdToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动z轴到指定位指令执行失败", motorZPositionSetDownCmdToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return true;
+        Object motorZPositionSetDownCmdToDeviceResultStatus = motorZPositionSetDownCmdToDeviceResult.getObj("result");
+        if (motorZPositionSetDownCmdToDeviceResultStatus instanceof Boolean) {
+            if (!(Boolean) motorZPositionSetDownCmdToDeviceResultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动z轴到指定位指令执行失败", motorZPositionSetDownCmdToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return true;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "移动z轴到指定位指令反馈", motorZPositionSetDownCmdToDeviceResult), MediaType.APPLICATION_JSON);
         return false;
     }
diff --git a/src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayStop.java b/src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayStop.java
index ebbfea6..c14ee63 100644
--- a/src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayStop.java
+++ b/src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayStop.java
@@ -50,6 +50,40 @@ public class MatrixSprayStop implements CommandHandler {
         String frontCmdName = cmdForm.getCmdName();
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RECEIVE, "后台已收到指令"), MediaType.APPLICATION_JSON);//向前端发送接收到指令
         log.info("申请中断喷涂线程:{}", matrixSprayState.cancelTask());
+
+        //0.先停注射泵
+        CMDToDevice syringePumpStopCMDToDevice = DeviceCommandGenerator.syringe_pump_stop();//停止推动注射泵
+        CommandFuture syringePumpStopCMDToDeviceCMDToDeviceFuture = new CommandFuture();
+        syringePumpStopCMDToDeviceCMDToDeviceFuture.setCmdToDevice(syringePumpStopCMDToDevice);
+        Integer syringePumpStopCMDToDeviceCmdId = syringePumpStopCMDToDevice.getCmdId();
+        CurrentSendCmdMapInstance.getInstance().putCommand(syringePumpStopCMDToDeviceCmdId, syringePumpStopCMDToDeviceCMDToDeviceFuture); // 将指令放入map
+        deviceClient.sendToJSON(syringePumpStopCMDToDevice); // 发送指令给设备
+        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "已向设备发送了停止推动注射泵指令", syringePumpStopCMDToDevice), MediaType.APPLICATION_JSON);
+        syringePumpStopCMDToDeviceCMDToDeviceFuture.waitForContinue(); // 等待设备的反馈
+        JSONObject syringePumpStopCMDToDeviceResult = syringePumpStopCMDToDeviceCMDToDeviceFuture.getCallbackResult(); // 拿到设备返回结果
+        CurrentSendCmdMapInstance.getInstance().removeCommand(syringePumpStopCMDToDeviceCmdId); // 将指令从map中删除
+        if (!syringePumpStopCMDToDeviceCMDToDeviceFuture.isReceived()) {
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "停止推动注射泵指令响应超时", syringePumpStopCMDToDeviceResult), MediaType.APPLICATION_JSON);
+            emitter.complete();
+            return;
+        }
+        if (syringePumpStopCMDToDeviceResult.getJSONObject("error") != null) {
+            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "停止推动注射泵指令返回错误", syringePumpStopCMDToDeviceResult), MediaType.APPLICATION_JSON);
+            emitter.complete();
+            return;
+        }
+
+        Object syringePumpStopCMDToDeviceResultStatus = syringePumpStopCMDToDeviceResult.getObj("result");
+        if (syringePumpStopCMDToDeviceResultStatus instanceof Boolean) {
+            if (!(Boolean) syringePumpStopCMDToDeviceResultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "停止推动注射泵指令执行失败", syringePumpStopCMDToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
+        }
+
+        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "停止推动注射泵指令反馈", syringePumpStopCMDToDeviceResult), MediaType.APPLICATION_JSON);
+
         //1.轴停止移动
         CMDToDevice motorXStopCMDToDevice = DeviceCommandGenerator.motor_x_stop(); //x轴停止移动指令
         CommandFuture motorXStopCMDToDeviceFuture = new CommandFuture();
@@ -73,12 +107,16 @@ public class MatrixSprayStop implements CommandHandler {
             emitter.complete();
             return;
         }
-        Boolean motorXStopStatus = motorXStopResult.getBool("result");
-        if (!motorXStopStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "x轴停止移动指令执行失败", motorXStopResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
+
+        Object motorXStopStatus = motorXStopResult.getObj("result");
+        if (motorXStopStatus instanceof Boolean) {
+            if (!(Boolean) motorXStopStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "x轴停止移动指令执行失败", motorXStopResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "x轴停止移动指令反馈", motorXStopResult), MediaType.APPLICATION_JSON);
 
         CMDToDevice motorYStopCMDToDevice = DeviceCommandGenerator.motor_y_stop(); //y轴停止移动
@@ -103,12 +141,16 @@ public class MatrixSprayStop implements CommandHandler {
             emitter.complete();
             return;
         }
-        Boolean motorYStopStatus = motorYStopResult.getBool("result");
-        if (!motorYStopStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "y轴停止移动指令执行失败", motorYStopResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
+
+        Object motorYStopStatus = motorYStopResult.getObj("result");
+        if (motorYStopStatus instanceof Boolean) {
+            if (!(Boolean) motorYStopStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "y轴停止移动指令执行失败", motorYStopResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "y轴停止移动指令反馈", motorYStopResult), MediaType.APPLICATION_JSON);
         //2.关闭喷嘴阀
         CMDToDevice nozzleValveCloseCMDToDevice = DeviceCommandGenerator.nozzle_valve_close();//关闭喷嘴阀
@@ -132,12 +174,16 @@ public class MatrixSprayStop implements CommandHandler {
             emitter.complete();
             return;
         }
-        Boolean nozzleValveCloseCMDToDeviceResultStatus = nozzleValveCloseCMDToDeviceResult.getBool("result");
-        if (!nozzleValveCloseCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭喷嘴阀指令执行失败", nozzleValveCloseCMDToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
+
+        Object nozzleValveCloseCMDToDeviceResultStatus = nozzleValveCloseCMDToDeviceResult.getObj("result");
+        if (nozzleValveCloseCMDToDeviceResultStatus instanceof Boolean) {
+            if (!(Boolean) nozzleValveCloseCMDToDeviceResultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭喷嘴阀指令执行失败", nozzleValveCloseCMDToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "关闭喷嘴阀指令反馈", nozzleValveCloseCMDToDeviceResult), MediaType.APPLICATION_JSON);
         //3.关闭高压电
         CMDToDevice highVoltageCloseCmdToDevice = DeviceCommandGenerator.high_voltage_close();//关闭高压电
@@ -161,12 +207,16 @@ public class MatrixSprayStop implements CommandHandler {
             emitter.complete();
             return;
         }
-        Boolean highVoltageCloseStatus = highVoltageCloseResult.getBool("result");
-        if (!highVoltageCloseStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭高压电指令执行失败", highVoltageCloseResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
+
+        Object highVoltageCloseStatus = highVoltageCloseResult.getObj("result");
+        if (highVoltageCloseStatus instanceof Boolean) {
+            if (!(Boolean) highVoltageCloseStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭高压电指令执行失败", highVoltageCloseResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "关闭高压电指令反馈", highVoltageCloseResult), MediaType.APPLICATION_JSON);
         //4.回到原点
         CountDownLatch latch = new CountDownLatch(1);
@@ -225,11 +275,13 @@ public class MatrixSprayStop implements CommandHandler {
             return true;
         }
 
-        Boolean motorZOriginStatus = motorZOriginResult.getBool("result");
-        if (!motorZOriginStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "z轴回原点指令执行失败", motorZOriginResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return true;
+        Object motorZOriginStatus = motorZOriginResult.getObj("result");
+        if (motorZOriginStatus instanceof Boolean) {
+            if (!(Boolean) motorZOriginStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "z轴回原点指令执行失败", motorZOriginResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return true;
+            }
         }
 
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "z轴回原点指令反馈", motorZOriginResult), MediaType.APPLICATION_JSON);
@@ -260,12 +312,16 @@ public class MatrixSprayStop implements CommandHandler {
             emitter.complete();
             return true;
         }
-        Boolean motorXOriginResultStatus = motorXOriginResult.getBool("result");
-        if (!motorXOriginResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "x轴回原点指令执行失败", motorXOriginResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return true;
+
+        Object motorXOriginResultStatus = motorXOriginResult.getObj("result");
+        if (motorXOriginResultStatus instanceof Boolean) {
+            if (!(Boolean) motorXOriginResultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "x轴回原点指令执行失败", motorXOriginResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return true;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "x轴回原点指令反馈", motorXOriginResult), MediaType.APPLICATION_JSON);
         return false;
     }
@@ -293,12 +349,16 @@ public class MatrixSprayStop implements CommandHandler {
             emitter.complete();
             return true;
         }
-        Boolean motorYOriginResultStatus = motorYOriginResult.getBool("result");
-        if (!motorYOriginResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "y轴回原点指令执行失败", motorYOriginResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return true;
+
+        Object motorYOriginResultStatus = motorYOriginResult.getObj("result");
+        if (motorYOriginResultStatus instanceof Boolean) {
+            if (!(Boolean) motorYOriginResultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "y轴回原点指令执行失败", motorYOriginResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return true;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "y轴回原点指令反馈", motorYOriginResult), MediaType.APPLICATION_JSON);
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "x轴与y轴已回到原点"), MediaType.APPLICATION_JSON);
         return false;
diff --git a/src/main/java/com/qyft/ms/app/handler/impl/MotorXToHome.java b/src/main/java/com/qyft/ms/app/handler/impl/MotorXToHome.java
index 17dd486..6de41ce 100644
--- a/src/main/java/com/qyft/ms/app/handler/impl/MotorXToHome.java
+++ b/src/main/java/com/qyft/ms/app/handler/impl/MotorXToHome.java
@@ -57,12 +57,16 @@ public class MotorXToHome implements CommandHandler {
             emitter.complete();
             return;
         }
-        Boolean motorXOriginResultStatus = motorXOriginResult.getBool("result");
-        if (!motorXOriginResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "x轴回原点指令执行失败", motorXOriginResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
+
+        Object motorXOriginResultStatus = motorXOriginResult.getObj("result");
+        if (motorXOriginResultStatus instanceof Boolean) {
+            if (!(Boolean) motorXOriginResultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "x轴回原点指令执行失败", motorXOriginResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "x轴回原点指令反馈", motorXOriginResult), MediaType.APPLICATION_JSON);
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "指令执行完毕"), MediaType.APPLICATION_JSON);
         emitter.complete();
diff --git a/src/main/java/com/qyft/ms/app/handler/impl/MotorYToHome.java b/src/main/java/com/qyft/ms/app/handler/impl/MotorYToHome.java
index 4a2a361..c47b708 100644
--- a/src/main/java/com/qyft/ms/app/handler/impl/MotorYToHome.java
+++ b/src/main/java/com/qyft/ms/app/handler/impl/MotorYToHome.java
@@ -60,12 +60,16 @@ public class MotorYToHome implements CommandHandler {
             emitter.complete();
             return;
         }
-        Boolean motorYOriginResultStatus = motorYOriginResult.getBool("result");
-        if (!motorYOriginResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "y轴回原点指令执行失败", motorYOriginResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
+
+        Object motorYOriginResultStatus = motorYOriginResult.getObj("result");
+        if (motorYOriginResultStatus instanceof Boolean) {
+            if (!(Boolean) motorYOriginResultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "y轴回原点指令执行失败", motorYOriginResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "y轴回原点指令反馈", motorYOriginResult), MediaType.APPLICATION_JSON);
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "指令执行完毕"), MediaType.APPLICATION_JSON);
         emitter.complete();
diff --git a/src/main/java/com/qyft/ms/app/handler/impl/MotorZToHome.java b/src/main/java/com/qyft/ms/app/handler/impl/MotorZToHome.java
index ba71544..39f6959 100644
--- a/src/main/java/com/qyft/ms/app/handler/impl/MotorZToHome.java
+++ b/src/main/java/com/qyft/ms/app/handler/impl/MotorZToHome.java
@@ -55,12 +55,16 @@ public class MotorZToHome implements CommandHandler {
             emitter.complete();
             return;
         }
-        Boolean motorZOriginStatus = motorZOriginResult.getBool("result");
-        if (!motorZOriginStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "z轴回原点指令执行失败", motorZOriginResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
+
+        Object motorZOriginStatus = motorZOriginResult.getObj("result");
+        if (motorZOriginStatus instanceof Boolean) {
+            if (!(Boolean) motorZOriginStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "z轴回原点指令执行失败", motorZOriginResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "z轴回原点指令反馈", motorZOriginResult), MediaType.APPLICATION_JSON);
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "指令执行完毕"), MediaType.APPLICATION_JSON);
         emitter.complete();
diff --git a/src/main/java/com/qyft/ms/app/handler/impl/NozzlePipelinePreFill.java b/src/main/java/com/qyft/ms/app/handler/impl/NozzlePipelinePreFill.java
index 9259f5c..4ce53c8 100644
--- a/src/main/java/com/qyft/ms/app/handler/impl/NozzlePipelinePreFill.java
+++ b/src/main/java/com/qyft/ms/app/handler/impl/NozzlePipelinePreFill.java
@@ -77,6 +77,14 @@ public class NozzlePipelinePreFill implements CommandHandler {
             emitter.complete();
             return;
         }
+        Object motorXYZPositionGetCmdToDeviceResultStatus = motorXYZPositionGetCmdToDeviceResult.getObj("result");
+        if (motorXYZPositionGetCmdToDeviceResultStatus instanceof Boolean) {
+            if (!(Boolean) motorXYZPositionGetCmdToDeviceResultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "获得电机XYZ相对原点坐标指令执行失败", motorXYZPositionGetCmdToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
+        }
         Double zAxisPosition = motorXYZPositionGetCmdToDeviceResult.getJSONObject("result").getDouble("zAxisPosition");//当前z轴相对于原点的位置
         if (zAxisPosition == null || zAxisPosition < 0.0) {
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "获得电机XYZ相对原点坐标指令执行失败", motorXYZPositionGetCmdToDeviceResult), MediaType.APPLICATION_JSON);
@@ -110,12 +118,15 @@ public class NozzlePipelinePreFill implements CommandHandler {
                 return;
             }
 
-            Boolean motorZPositionSetCmdToDeviceResultStatus = motorZPositionSetCmdToDeviceResult.getBool("result");
-            if (!motorZPositionSetCmdToDeviceResultStatus) {
-                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动z轴到指定位指令执行失败", motorZPositionSetCmdToDeviceResult), MediaType.APPLICATION_JSON);
-                emitter.complete();
-                return;
+            Object motorZPositionSetCmdToDeviceResultStatus = motorZPositionSetCmdToDeviceResult.getObj("result");
+            if (motorZPositionSetCmdToDeviceResultStatus instanceof Boolean) {
+                if (!(Boolean) motorZPositionSetCmdToDeviceResultStatus) {
+                    emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动z轴到指定位指令执行失败", motorZPositionSetCmdToDeviceResult), MediaType.APPLICATION_JSON);
+                    emitter.complete();
+                    return;
+                }
             }
+
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "移动z轴到指定位指令反馈", motorZPositionSetCmdToDeviceResult), MediaType.APPLICATION_JSON);
             boolean finished = latch.await(5, TimeUnit.SECONDS);
             if (!finished) {
@@ -147,12 +158,16 @@ public class NozzlePipelinePreFill implements CommandHandler {
             emitter.complete();
             return;
         }
-        Boolean motorXYZPositionSetCmdToDeviceResultStatus = motorXPositionSetCmdToDeviceResult.getBool("result");
-        if (!motorXYZPositionSetCmdToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动x轴到指定位置指令执行失败", motorXPositionSetCmdToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
+
+        Object motorXYZPositionSetCmdToDeviceResultStatus = motorXPositionSetCmdToDeviceResult.getObj("result");
+        if (motorXYZPositionSetCmdToDeviceResultStatus instanceof Boolean) {
+            if (!(Boolean) motorXYZPositionSetCmdToDeviceResultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动x轴到指定位置指令执行失败", motorXPositionSetCmdToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "移动x轴到指定位置指令反馈", motorXPositionSetCmdToDeviceResult), MediaType.APPLICATION_JSON);
         CMDToDevice motorYPositionSetCMDToDevice = DeviceCommandGenerator.motor_y_position_set(75.0, 2.0);//移动y轴到指定位置 (TODO) 废液桶Y轴位置应当可以配置
         CommandFuture motorYPositionSetCMDToDeviceFuture = new CommandFuture();
@@ -174,12 +189,16 @@ public class NozzlePipelinePreFill implements CommandHandler {
             emitter.complete();
             return;
         }
-        Boolean motorYPositionSetCMDToDeviceResultStatus = motorYPositionSetCMDToDeviceResult.getBool("result");
-        if (!motorYPositionSetCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动y轴到指定位置指令执行失败", motorYPositionSetCMDToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
+
+        Object motorYPositionSetCMDToDeviceResultStatus = motorYPositionSetCMDToDeviceResult.getObj("result");
+        if (motorYPositionSetCMDToDeviceResultStatus instanceof Boolean) {
+            if (!(Boolean) motorYPositionSetCMDToDeviceResultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动y轴到指定位置指令执行失败", motorYPositionSetCMDToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "移动y轴到指定位置指令反馈", motorYPositionSetCMDToDeviceResult), MediaType.APPLICATION_JSON);
         boolean finished = latch.await(5, TimeUnit.SECONDS);
         if (!finished) {
@@ -211,12 +230,15 @@ public class NozzlePipelinePreFill implements CommandHandler {
             return;
         }
 
-        Boolean motorZPositionSetDownCmdToDeviceResultStatus = motorZPositionSetDownCmdToDeviceResult.getBool("result");
-        if (!motorZPositionSetDownCmdToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动z轴到指定位指令执行失败", motorZPositionSetDownCmdToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
+        Object motorZPositionSetDownCmdToDeviceResultStatus = motorZPositionSetDownCmdToDeviceResult.getObj("result");
+        if (motorZPositionSetDownCmdToDeviceResultStatus instanceof Boolean) {
+            if (!(Boolean) motorZPositionSetDownCmdToDeviceResultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动z轴到指定位指令执行失败", motorZPositionSetDownCmdToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "移动z轴到指定位指令反馈", motorZPositionSetDownCmdToDeviceResult), MediaType.APPLICATION_JSON);
         finished = latch.await(5, TimeUnit.SECONDS);
         if (!finished) {
@@ -245,12 +267,16 @@ public class NozzlePipelinePreFill implements CommandHandler {
             emitter.complete();
             return;
         }
-        Boolean threeWayValveOpenSprayPipelineCMDToDeviceResultStatus = threeWayValveOpenSprayPipelineCMDToDeviceResult.getBool("result");
-        if (!threeWayValveOpenSprayPipelineCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开三通阀注射器管路指令执行失败", threeWayValveOpenSprayPipelineCMDToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
+
+        Object threeWayValveOpenSprayPipelineCMDToDeviceResultStatus = threeWayValveOpenSprayPipelineCMDToDeviceResult.getObj("result");
+        if (threeWayValveOpenSprayPipelineCMDToDeviceResultStatus instanceof Boolean) {
+            if (!(Boolean) threeWayValveOpenSprayPipelineCMDToDeviceResultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动z轴到指定位指令执行失败", motorZPositionSetDownCmdToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "打开三通阀注射器管路指令反馈", threeWayValveOpenSprayPipelineCMDToDeviceResult), MediaType.APPLICATION_JSON);
         //6.打开喷嘴阀
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "开启喷嘴阀"), MediaType.APPLICATION_JSON);
@@ -274,16 +300,20 @@ public class NozzlePipelinePreFill implements CommandHandler {
             emitter.complete();
             return;
         }
-        Boolean nozzleValveOpenCMDToDeviceResultStatus = nozzleValveOpenCMDToDeviceResult.getBool("result");
-        if (!nozzleValveOpenCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "开启喷嘴阀指令执行失败", nozzleValveOpenCMDToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
+
+        Object nozzleValveOpenCMDToDeviceResultStatus = nozzleValveOpenCMDToDeviceResult.getObj("result");
+        if (nozzleValveOpenCMDToDeviceResultStatus instanceof Boolean) {
+            if (!(Boolean) nozzleValveOpenCMDToDeviceResultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "开启喷嘴阀指令执行失败", nozzleValveOpenCMDToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "开启喷嘴阀指令反馈", nozzleValveOpenCMDToDeviceResult), MediaType.APPLICATION_JSON);
         //7.设置注射泵速度，推注射泵
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "设置注射泵速度，推注射泵"), MediaType.APPLICATION_JSON);
-        CMDToDevice syringePumpInjectionVolumeSetCMDToDevice = DeviceCommandGenerator.syringe_pump_injection_speed_set(1.0);//推动移动注射泵
+        CMDToDevice syringePumpInjectionVolumeSetCMDToDevice = DeviceCommandGenerator.syringe_pump_forward(1.0);//推动移动注射泵
         CommandFuture syringePumpInjectionVolumeSetCMDToDeviceFuture = new CommandFuture();
         syringePumpInjectionVolumeSetCMDToDeviceFuture.setCmdToDevice(syringePumpInjectionVolumeSetCMDToDevice);
         Integer syringePumpInjectionVolumeSetCMDToDeviceCmdId = syringePumpInjectionVolumeSetCMDToDevice.getCmdId();
@@ -303,12 +333,16 @@ public class NozzlePipelinePreFill implements CommandHandler {
             emitter.complete();
             return;
         }
-        Boolean syringePumpInjectionVolumeSetCMDToDeviceResultStatus = syringePumpInjectionVolumeSetCMDToDeviceResult.getBool("result");
-        if (!syringePumpInjectionVolumeSetCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "推动移动注射泵指令执行失败", syringePumpInjectionVolumeSetCMDToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
+
+        Object syringePumpInjectionVolumeSetCMDToDeviceResultStatus = syringePumpInjectionVolumeSetCMDToDeviceResult.getObj("result");
+        if (syringePumpInjectionVolumeSetCMDToDeviceResultStatus instanceof Boolean) {
+            if (!(Boolean) syringePumpInjectionVolumeSetCMDToDeviceResultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "推动移动注射泵指令执行失败", syringePumpInjectionVolumeSetCMDToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "推动移动注射泵指令反馈", syringePumpInjectionVolumeSetCMDToDeviceResult), MediaType.APPLICATION_JSON);
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "指令执行完毕"), MediaType.APPLICATION_JSON);
         emitter.complete();
diff --git a/src/main/java/com/qyft/ms/app/handler/impl/NozzlePipelinePreFillStop.java b/src/main/java/com/qyft/ms/app/handler/impl/NozzlePipelinePreFillStop.java
index 6651208..3792382 100644
--- a/src/main/java/com/qyft/ms/app/handler/impl/NozzlePipelinePreFillStop.java
+++ b/src/main/java/com/qyft/ms/app/handler/impl/NozzlePipelinePreFillStop.java
@@ -59,12 +59,16 @@ public class NozzlePipelinePreFillStop implements CommandHandler {
             emitter.complete();
             return;
         }
-        Boolean syringePumpStopCMDToDeviceResultStatus = syringePumpStopCMDToDeviceResult.getBool("result");
-        if (!syringePumpStopCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "停止推动注射泵指令执行失败", syringePumpStopCMDToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
+
+        Object syringePumpStopCMDToDeviceResultStatus = syringePumpStopCMDToDeviceResult.getObj("result");
+        if (syringePumpStopCMDToDeviceResultStatus instanceof Boolean) {
+            if (!(Boolean) syringePumpStopCMDToDeviceResultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "停止推动注射泵指令执行失败", syringePumpStopCMDToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "停止推动注射泵指令反馈", syringePumpStopCMDToDeviceResult), MediaType.APPLICATION_JSON);
         //2.全部关闭三通阀
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "全部关闭三通阀"), MediaType.APPLICATION_JSON);
@@ -88,12 +92,16 @@ public class NozzlePipelinePreFillStop implements CommandHandler {
             emitter.complete();
             return;
         }
-        Boolean threeWayValveCloseAllCMDToDeviceResultStatus = threeWayValveCloseAllCMDToDeviceResult.getBool("result");
-        if (!threeWayValveCloseAllCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "全部关闭三通阀指令执行失败", threeWayValveCloseAllCMDToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
+
+        Object threeWayValveCloseAllCMDToDeviceResultStatus = threeWayValveCloseAllCMDToDeviceResult.getObj("result");
+        if (threeWayValveCloseAllCMDToDeviceResultStatus instanceof Boolean) {
+            if (!(Boolean) threeWayValveCloseAllCMDToDeviceResultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "停止推动注射泵指令执行失败", syringePumpStopCMDToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "全部关闭三通阀指令反馈", threeWayValveCloseAllCMDToDeviceResult), MediaType.APPLICATION_JSON);
         //3.关闭喷嘴阀
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "关闭喷嘴阀"), MediaType.APPLICATION_JSON);
@@ -118,12 +126,16 @@ public class NozzlePipelinePreFillStop implements CommandHandler {
             emitter.complete();
             return;
         }
-        Boolean nozzleValveCloseCMDToDeviceResultStatus = nozzleValveCloseCMDToDeviceResult.getBool("result");
-        if (!nozzleValveCloseCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭喷嘴阀指令执行失败", nozzleValveCloseCMDToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
+
+        Object nozzleValveCloseCMDToDeviceResultStatus = nozzleValveCloseCMDToDeviceResult.getObj("result");
+        if (nozzleValveCloseCMDToDeviceResultStatus instanceof Boolean) {
+            if (!(Boolean) nozzleValveCloseCMDToDeviceResultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "关闭喷嘴阀指令执行失败", nozzleValveCloseCMDToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "关闭喷嘴阀指令反馈", nozzleValveCloseCMDToDeviceResult), MediaType.APPLICATION_JSON);
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "指令执行完毕"), MediaType.APPLICATION_JSON);
         emitter.complete();
diff --git a/src/main/java/com/qyft/ms/app/handler/impl/NozzlePipelineWash.java b/src/main/java/com/qyft/ms/app/handler/impl/NozzlePipelineWash.java
index 7343044..53ca893 100644
--- a/src/main/java/com/qyft/ms/app/handler/impl/NozzlePipelineWash.java
+++ b/src/main/java/com/qyft/ms/app/handler/impl/NozzlePipelineWash.java
@@ -56,12 +56,23 @@ public class NozzlePipelineWash implements CommandHandler {
             emitter.complete();
             return;
         }
+
+        Object motorXYZPositionGetCmdToDeviceResultStatus = motorXYZPositionGetCmdToDeviceResult.getObj("result");
+        if (motorXYZPositionGetCmdToDeviceResultStatus instanceof Boolean) {
+            if (!(Boolean) motorXYZPositionGetCmdToDeviceResultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "获得电机XYZ相对原点坐标指令执行失败", motorXYZPositionGetCmdToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
+        }
+
         Double zAxisPosition = motorXYZPositionGetCmdToDeviceResult.getJSONObject("result").getDouble("zAxisPosition");//当前z轴相对于原点的位置
         if (zAxisPosition == null || zAxisPosition < 0.0) {
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "获得电机XYZ相对原点坐标指令执行失败", motorXYZPositionGetCmdToDeviceResult), MediaType.APPLICATION_JSON);
             emitter.complete();
             return;
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "电机XYZ相对原点坐标指令反馈", motorXYZPositionGetCmdToDeviceResult), MediaType.APPLICATION_JSON);
         if (zAxisPosition > 80) { //z轴超出安全距离，抬升z轴 //TODO安全距离应该可配置
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "z轴超出安全距离，抬升z轴至安全距离"), MediaType.APPLICATION_JSON);
@@ -86,12 +97,15 @@ public class NozzlePipelineWash implements CommandHandler {
                 return;
             }
 
-            Boolean motorZPositionSetCmdToDeviceResultStatus = motorZPositionSetCmdToDeviceResult.getBool("result");
-            if (!motorZPositionSetCmdToDeviceResultStatus) {
-                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动z轴到指定位指令执行失败", motorZPositionSetCmdToDeviceResult), MediaType.APPLICATION_JSON);
-                emitter.complete();
-                return;
+            Object motorZPositionSetCmdToDeviceResultStatus = motorZPositionSetCmdToDeviceResult.getObj("result");
+            if (motorZPositionSetCmdToDeviceResultStatus instanceof Boolean) {
+                if (!(Boolean) motorZPositionSetCmdToDeviceResultStatus) {
+                    emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动z轴到指定位指令执行失败", motorZPositionSetCmdToDeviceResult), MediaType.APPLICATION_JSON);
+                    emitter.complete();
+                    return;
+                }
             }
+
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "移动z轴到指定位指令反馈", motorZPositionSetCmdToDeviceResult), MediaType.APPLICATION_JSON);
         }
         //2.轴移动到废液位置
@@ -116,12 +130,16 @@ public class NozzlePipelineWash implements CommandHandler {
             emitter.complete();
             return;
         }
-        Boolean motorXYZPositionSetCmdToDeviceResultStatus = motorXPositionSetCmdToDeviceResult.getBool("result");
-        if (!motorXYZPositionSetCmdToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动x轴到指定位置指令执行失败", motorXPositionSetCmdToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
+
+        Object motorXYZPositionSetCmdToDeviceResultStatus = motorXPositionSetCmdToDeviceResult.getObj("result");
+        if (motorXYZPositionSetCmdToDeviceResultStatus instanceof Boolean) {
+            if (!(Boolean) motorXYZPositionSetCmdToDeviceResultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动x轴到指定位置指令执行失败", motorXPositionSetCmdToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "移动x轴到指定位置指令反馈", motorXPositionSetCmdToDeviceResult), MediaType.APPLICATION_JSON);
         CMDToDevice motorYPositionSetCMDToDevice = DeviceCommandGenerator.motor_y_position_set(75.0, 2.0);//移动y轴到指定位置 (TODO) 废液桶Y轴位置应当可以配置
         CommandFuture motorYPositionSetCMDToDeviceFuture = new CommandFuture();
@@ -143,12 +161,16 @@ public class NozzlePipelineWash implements CommandHandler {
             emitter.complete();
             return;
         }
-        Boolean motorYPositionSetCMDToDeviceResultStatus = motorYPositionSetCMDToDeviceResult.getBool("result");
-        if (!motorYPositionSetCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动y轴到指定位置指令执行失败", motorYPositionSetCMDToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
+
+        Object motorYPositionSetCMDToDeviceResultStatus = motorYPositionSetCMDToDeviceResult.getObj("result");
+        if (motorYPositionSetCMDToDeviceResultStatus instanceof Boolean) {
+            if (!(Boolean) motorYPositionSetCMDToDeviceResultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动y轴到指定位置指令执行失败", motorYPositionSetCMDToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "移动y轴到指定位置指令反馈", motorYPositionSetCMDToDeviceResult), MediaType.APPLICATION_JSON);
         //3.下降z轴高度，防止飞溅
         Thread.sleep(10 * 1000);//TODO 等待10秒，x和y轴移动完毕
@@ -174,12 +196,15 @@ public class NozzlePipelineWash implements CommandHandler {
             return;
         }
 
-        Boolean motorZPositionSetDownCmdToDeviceResultStatus = motorZPositionSetDownCmdToDeviceResult.getBool("result");
-        if (!motorZPositionSetDownCmdToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动z轴到指定位指令执行失败", motorZPositionSetDownCmdToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
+        Object motorZPositionSetDownCmdToDeviceResultStatus = motorZPositionSetDownCmdToDeviceResult.getObj("result");
+        if (motorZPositionSetDownCmdToDeviceResultStatus instanceof Boolean) {
+            if (!(Boolean) motorZPositionSetDownCmdToDeviceResultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "移动z轴到指定位指令执行失败", motorZPositionSetDownCmdToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "移动z轴到指定位指令反馈", motorZPositionSetDownCmdToDeviceResult), MediaType.APPLICATION_JSON);
         //4.开启三通阀到喷嘴管路
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "打开三通阀注射器管路"), MediaType.APPLICATION_JSON);
@@ -203,12 +228,16 @@ public class NozzlePipelineWash implements CommandHandler {
             emitter.complete();
             return;
         }
-        Boolean threeWayValveOpenSyringePipelineCMDToDeviceResultStatus = threeWayValveOpenSyringePipelineCMDToDeviceResult.getBool("result");
-        if (!threeWayValveOpenSyringePipelineCMDToDeviceResultStatus) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开三通阀喷嘴管路指令执行失败", threeWayValveOpenSyringePipelineCMDToDeviceResult), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
+
+        Object threeWayValveOpenSyringePipelineCMDToDeviceResultStatus = threeWayValveOpenSyringePipelineCMDToDeviceResult.getObj("result");
+        if (threeWayValveOpenSyringePipelineCMDToDeviceResultStatus instanceof Boolean) {
+            if (!(Boolean) threeWayValveOpenSyringePipelineCMDToDeviceResultStatus) {
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "打开三通阀喷嘴管路指令执行失败", threeWayValveOpenSyringePipelineCMDToDeviceResult), MediaType.APPLICATION_JSON);
+                emitter.complete();
+                return;
+            }
         }
+
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "打开三通阀喷嘴管路指令反馈", threeWayValveOpenSyringePipelineCMDToDeviceResult), MediaType.APPLICATION_JSON);
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "指令执行完毕"), MediaType.APPLICATION_JSON);
         emitter.complete();
diff --git a/src/main/java/com/qyft/ms/device/handler/DeviceMessageHandler.java b/src/main/java/com/qyft/ms/device/handler/DeviceMessageHandler.java
index 3186011..0de8d6e 100644
--- a/src/main/java/com/qyft/ms/device/handler/DeviceMessageHandler.java
+++ b/src/main/java/com/qyft/ms/device/handler/DeviceMessageHandler.java
@@ -50,17 +50,6 @@ public class DeviceMessageHandler extends ChannelInboundHandlerAdapter {
             String tag = deviceResult.get("tag").toString();
             Integer cmdId = payload.getInt("cmdId");
 
-            Map<Integer, Long> receivedCommands = DeviceInstance.getInstance().getReceivedCommands();
-            long currentTime = System.currentTimeMillis();
-            if (receivedCommands.containsKey(payload.getInt("cmdId"))) {
-                long lastReceivedTime = receivedCommands.get(payload.getInt("cmdId"));
-                if (currentTime - lastReceivedTime < DUPLICATE_CHECK_INTERVAL) {
-                    return;
-                }
-            }
-
-            receivedCommands.put(cmdId, currentTime);
-
 
             if ("event".equals(tag)) { //设备上报事件
                 String eventType = payload.getJSONObject("result").getStr("event_type");
@@ -80,7 +69,19 @@ public class DeviceMessageHandler extends ChannelInboundHandlerAdapter {
                     }
                 }
             } else if ("ack".equals(tag)) {//设备指令反馈
-//                Integer cmdId = payload.getInt("cmdId");
+                Map<Integer, Long> receivedCommands = DeviceInstance.getInstance().getReceivedCommands();
+                long currentTime = System.currentTimeMillis();
+                if (receivedCommands.containsKey(payload.getInt("cmdId"))) {
+                    long lastReceivedTime = receivedCommands.get(payload.getInt("cmdId"));
+                    if (currentTime - lastReceivedTime < DUPLICATE_CHECK_INTERVAL) {
+                        return;
+                    }
+                }
+
+                receivedCommands.put(cmdId, currentTime);
+
+
+
                 CommandFuture commandFuture = CurrentSendCmdMapInstance.getInstance().getCommand(cmdId);
                 if (commandFuture != null) {
                     commandFuture.setReceived(true);