fix:delay的时候暂停恢复暂停时继续dealy

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

@@ -76,7 +76,7 @@ public class SprayTaskExecutor {
                 webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.START, "喷涂任务开始执行"));
                 List<SprayTaskParams> sprayTaskParams = sprayTask.getSprayTaskParams();
                 for (SprayTaskParams sprayTaskParam : sprayTaskParams) {//循环玻片
-                    if (sprayTask.getCurrentIndex() != null && sprayTaskParam.getIndex() < sprayTask.getCurrentIndex()) {
+                    if (sprayTask.getCurrentIndex() != null && sprayTaskParam.getIndex() < sprayTask.getCurrentIndex()) {//喷涂过的玻片跳过
                         continue;
                     }
                     sprayTask.setCurrentIndex(sprayTaskParam.getIndex());
@@ -93,7 +93,7 @@ public class SprayTaskExecutor {
                             continue;
                         }
                         sprayTask.setSprayTimes(sprayTimes);
-                        Double[] slide = slideArr[sprayTaskParam.getIndex()];//获取玻片的坐标
+                        Double[] slide = slideArr[sprayTaskParam.getIndex()];//获取玻片原点的坐标
 
                         List<SprayTaskStep> sprayTaskStepList = getSprayPath(sprayTimes);//计算本次喷涂的路线
 
@@ -117,30 +117,11 @@ public class SprayTaskExecutor {
                         commandWait(threeWayValveOpenSyringePipelineCommandFuture);
 
                         delay(500);
-                        //判断是否有暂停的点位，如果有则还原暂停时的点位
-//                        Point3D currentPausedPoint = sprayTask.getCurrentPausedPoint();
-//                        if (currentPausedPoint != null) {
-//                            DeviceCommand motorXRestoreCommand = DeviceCommandGenerator.motorXPositionSet(currentPausedPoint.x, 20.0);
-//                            DeviceCommand motorYRestoreCommand = DeviceCommandGenerator.motorYPositionSet(currentPausedPoint.y, 20.0);
-//                            DeviceCommand motorZRestoreCommand = DeviceCommandGenerator.motorZPositionSet(currentPausedPoint.z, 20.0);
-//                            CommandFuture motorXRestoreCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXRestoreCommand);
-//                            CommandFuture motorYRestoreCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYRestoreCommand);
-//                            CommandFuture motorZRestoreCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZRestoreCommand);
-//                            commandWait(motorXRestoreCommandFuture, motorYRestoreCommandFuture, motorZRestoreCommandFuture);
-//                            sprayTask.setCurrentPausedPoint(null);
-//                        }
-
                         //因为走的是折线，所以单次指令只需要移动x或y，缓存上一个点位用来判断本次是走x还是y
                         double cacheXPoint = -1;
                         double cacheYPoint = -1;
                         int currentStep = 0; //记录当前线程喷涂步骤序号
                         for (SprayTaskStep sprayTaskStep : sprayTaskStepList) {//因为田字格喷涂其实是两次
-                            if (sprayTimes.getHighVoltage()) {//加电
-                                DeviceCommand highVoltageOpenCommand = DeviceCommandGenerator.highVoltageOpen(sprayTimes.getHighVoltageValue());//开启高压
-                                CommandFuture highVoltageOpenCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), highVoltageOpenCommand);
-                                commandWait(highVoltageOpenCommandFuture);
-                            }
-
                             DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen();//开启喷嘴阀
                             CommandFuture nozzleValveOpenCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), nozzleValveOpenCommand);
                             commandWait(nozzleValveOpenCommandFuture);
@@ -149,6 +130,12 @@ public class SprayTaskExecutor {
                             CommandFuture syringePumpForwardCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpForwardCommand);
                             commandWait(syringePumpForwardCommandFuture);
 
+                            if (sprayTimes.getHighVoltage()) {//加电
+                                DeviceCommand highVoltageOpenCommand = DeviceCommandGenerator.highVoltageOpen(sprayTimes.getHighVoltageValue());//开启高压
+                                CommandFuture highVoltageOpenCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), highVoltageOpenCommand);
+                                commandWait(highVoltageOpenCommandFuture);
+                            }
+
                             for (int i = 0; i < sprayTaskStep.getSprayPathPointList().size(); i++) {//循环路线
                                 if (currentStep < sprayTask.getCurrentStep()) {
                                     currentStep++;
@@ -178,12 +165,12 @@ public class SprayTaskExecutor {
                                 sprayTask.setCurrentStep(currentStep);
                             }
                             //一次喷涂完毕后停止推注射泵
+                            DeviceCommand highVoltageCloseCommand = DeviceCommandGenerator.highVoltageClose(); //关闭高压
+                            CommandFuture highVoltageCloseCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), highVoltageCloseCommand);
                             DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop(); //停止推动注射泵
                             CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpStopCommand);
                             DeviceCommand nozzleValveCloseCommand = DeviceCommandGenerator.nozzleValveClose(); //关闭喷嘴阀
                             CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), nozzleValveCloseCommand);
-                            DeviceCommand highVoltageCloseCommand = DeviceCommandGenerator.highVoltageClose(); //关闭高压
-                            CommandFuture highVoltageCloseCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), highVoltageCloseCommand);
                             commandWait(syringePumpStopCommandFuture, nozzleValveCloseCommandFuture, highVoltageCloseCommandFuture);
 
                             sprayTask.setCurrentCountSprayNum(sprayTask.getCurrentCountSprayNum() + 1);
@@ -191,10 +178,10 @@ public class SprayTaskExecutor {
                                 delay(sprayTimes.getGridDelay() * 1000);
                             }
                         }
+                        delay(sprayTimes.getDelay() * 1000);
                         sprayNum++;
                         sprayTask.setSprayNum(sprayNum);
                         sprayTask.setCurrentStep(0);
-                        delay(sprayTimes.getDelay() * 1000);
                     }
                     sprayTask.setSprayNum(0);
                 }