fix:移动电机必须给速度

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

@@ -71,39 +71,6 @@ public class SprayTaskExecutor {
         taskThread = new Thread(() -> {
             try {
                 webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.START, "喷涂任务开始执行"));
-                if (!sprayTask.isSprayPreStepsCompleted()) {
-                    //XYZ回原点
-                    DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(0.0);
-                    DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorYPositionSet(0.0);
-                    DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(0.0);
-                    CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXPositionSetCommand);
-                    CommandFuture motorYPositionSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYPositionSetCommand);
-                    CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZPositionSetCommand);
-                    commandWait(motorXPositionSetCommandFuture, motorYPositionSetCommandFuture, motorZPositionSetCommandFuture);
-//
-//                    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);
-//                    CommandFuture motorZPositionSetAboveSlideCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZPositionSetAboveSlideCommand);
-//                    commandWait(motorZPositionSetAboveSlideCommandFuture);
-
-                    DeviceCommand threeWayValveOpenSyringePipelineCommand = DeviceCommandGenerator.threeWayValveOpenSyringePipeline();//打开三通阀喷嘴管路
-                    CommandFuture threeWayValveOpenSyringePipelineCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), threeWayValveOpenSyringePipelineCommand);
-                    commandWait(threeWayValveOpenSyringePipelineCommandFuture);
-
-                    if (sprayTask.getSprayParams().getHighVoltage()) {//加电
-                        DeviceCommand highVoltageOpenCommand = DeviceCommandGenerator.highVoltageOpen(sprayTask.getSprayParams().getHighVoltageValue());//开启高压
-                        CommandFuture highVoltageOpenCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), highVoltageOpenCommand);
-                        commandWait(highVoltageOpenCommandFuture);
-                    }
-                    sprayTask.setSprayPreStepsCompleted(true);
-                }
-                DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen();//开启喷嘴阀
-                CommandFuture nozzleValveOpenCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), nozzleValveOpenCommand);
-                commandWait(nozzleValveOpenCommandFuture);
-
-
                 int reCurrentStep = sprayTask.getCurrentStep();
                 int currentStep = 0; //当前喷涂步骤
                 int sprayNum = 1;
@@ -185,6 +152,7 @@ public class SprayTaskExecutor {
                     commandWait(syringePumpStopCommandFuture);
                     sprayNum++;
                 }
+
                 DeviceCommand highVoltageCloseCommand = DeviceCommandGenerator.highVoltageClose();//关闭高压
                 CommandFuture highVoltageCloseCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), highVoltageCloseCommand);
                 commandWait(highVoltageCloseCommandFuture);
@@ -194,13 +162,13 @@ public class SprayTaskExecutor {
                 commandWait(nozzleValveCloseCommandFuture);
 
                 //XYZ回原点
-                DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(0.0,20.0);
-                DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorYPositionSet(0.0,20.0);
-                DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(0.0,15.0);
-                CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXPositionSetCommand);
-                CommandFuture motorYPositionSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYPositionSetCommand);
-                CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZPositionSetCommand);
-                commandWait(motorXPositionSetCommandFuture, motorYPositionSetCommandFuture, motorZPositionSetCommandFuture);
+                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);
+                commandWait(motorXOriginCommandFuture, motorYOriginCommandFuture, motorZOriginCommandFuture);
 
 
                 webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SUCCESS, "喷涂任务执行成功"));

src/main/java/com/qyft/ms/app/device/status/SprayTask.java

@@ -41,10 +41,6 @@ public class SprayTask {
      */
     private volatile boolean spraying = false;
     /**
-     * 喷涂前置步骤是否完成
-     */
-    private volatile boolean sprayPreStepsCompleted = false;
-    /**
      * 当前正在执行的步骤序号
      */
     private volatile int currentStep = 0;
@@ -120,7 +116,6 @@ public class SprayTask {
         paused = false;
         suspendable = false;
         spraying = false;
-        sprayPreStepsCompleted = false;
         sprayTaskStepList.clear();
         currentStep = 0;
         sprayTaskSprayedList.clear();

src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayStart.java

@@ -141,174 +141,200 @@ public class MatrixSprayStart extends BaseCommandHandler {
             webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.ERROR, "电压不能大于6000V"));
             throw new RuntimeException("电压不能大于6000V");
         }
-        return runAsync(() -> {
-            // 3. 设定喷涂参数
-            sprayTask.setSprayParam(matrixPathType, motorZHeight, gasPressure, volume, highVoltage, highVoltageValue, spacing, movingSpeed, times, positionList);
-            sprayTask.setCacheParams(form.getParams());
+        if (positionList.isEmpty()) {
+            webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.ERROR, "喷涂区域不能为空"));
+            throw new RuntimeException("喷涂区域不能为空");
+        }
+        // 3. 设定喷涂参数
+        sprayTask.setSprayParam(matrixPathType, motorZHeight, gasPressure, volume, highVoltage, highVoltageValue, spacing, movingSpeed, times, positionList);
+        sprayTask.setCacheParams(form.getParams());
 
-            OperationLog operationLog = new OperationLog();
-            operationLog.setMatrixInfo(JSONUtil.toJsonStr(sprayTask.getCacheParams()));
-            operationLogService.add(operationLog);
+        OperationLog operationLog = new OperationLog();
+        operationLog.setMatrixInfo(JSONUtil.toJsonStr(sprayTask.getCacheParams()));
+        operationLogService.add(operationLog);
 
-            // 7.循环喷涂区域
-            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"));
-            Double[][] slideArr = {
-                    {slidePosition1.getX(), slidePosition1.getY()},
-                    {slidePosition2.getX(), slidePosition2.getY()},
-                    {slidePosition3.getX(), slidePosition3.getY()},
-                    {slidePosition4.getX(), slidePosition4.getY()}
-            };
-            for (Map<String, Object> position : positionList) {
-                int index = (int) position.get("index"); //index 第几个玻片
-                Double[] upperLeft = {((Number) position.get("x1")).doubleValue(), ((Number) position.get("y1")).doubleValue()}; //范围左上角 x1，y1
-                Double[] lowerRight = {((Number) position.get("x2")).doubleValue(), ((Number) position.get("y2")).doubleValue()}; //范围右下角 x2，y2
-                Double[] slide = slideArr[index];//获取玻片的坐标
-                //规划路线坐标
-                DecimalFormat df = new DecimalFormat("#.##");
-                double left = Double.parseDouble(df.format(slide[0] + upperLeft[0]));
-                double right = Double.parseDouble(df.format(slide[0] + lowerRight[0]));
-                double top = Double.parseDouble(df.format(slide[1] + upperLeft[1]));
-                double bottom = Double.parseDouble(df.format(slide[1] + lowerRight[1]));
-                if ("horizontal".equals(matrixPathType)) {//喷涂路径类型 horizontal 横向 | vertical 纵向 | grid 网格先横向后纵向
-                    for (int i = 1; i <= times; i++) {
-                        double topReal = top;
-                        double bottomReal = bottom;
-                        double leftReal = left;
-                        double rightReal = right;
-                        if (i % 2 == 0) {//双数喷涂，插空移动边界
-                            double halfSpacing = spacing / 2;
-                            topReal = top + halfSpacing;
-                            bottomReal = bottomReal - halfSpacing;
-                            leftReal = left + halfSpacing;
-                            rightReal = right - halfSpacing;
-                        }
-                        List<PathGenerator.Points> pathList = PathGenerator.generatePathPoints(
-                                leftReal, rightReal, topReal, bottomReal,
-                                spacing,
-                                PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN
-                        );
-                        List<List<DeviceCommand>> deviceCommandList = new ArrayList<>();
+        // 7.循环喷涂区域
+        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"));
+        Double[][] slideArr = {
+                {slidePosition1.getX(), slidePosition1.getY()},
+                {slidePosition2.getX(), slidePosition2.getY()},
+                {slidePosition3.getX(), slidePosition3.getY()},
+                {slidePosition4.getX(), slidePosition4.getY()}
+        };
+        for (Map<String, Object> position : positionList) {
+            int index = (int) position.get("index"); //index 第几个玻片
+            Double[] upperLeft = {((Number) position.get("x1")).doubleValue(), ((Number) position.get("y1")).doubleValue()}; //范围左上角 x1，y1
+            Double[] lowerRight = {((Number) position.get("x2")).doubleValue(), ((Number) position.get("y2")).doubleValue()}; //范围右下角 x2，y2
+            Double[] slide = slideArr[index];//获取玻片的坐标
+            //规划路线坐标
+            DecimalFormat df = new DecimalFormat("#.##");
+            double left = Double.parseDouble(df.format(slide[0] + upperLeft[0]));
+            double right = Double.parseDouble(df.format(slide[0] + lowerRight[0]));
+            double top = Double.parseDouble(df.format(slide[1] + upperLeft[1]));
+            double bottom = Double.parseDouble(df.format(slide[1] + lowerRight[1]));
+            if ("horizontal".equals(matrixPathType)) {//喷涂路径类型 horizontal 横向 | vertical 纵向 | grid 网格先横向后纵向
+                for (int i = 1; i <= times; i++) {
+                    double topReal = top;
+                    double bottomReal = bottom;
+                    double leftReal = left;
+                    double rightReal = right;
+                    if (i % 2 == 0) {//双数喷涂，插空移动边界
+                        double halfSpacing = spacing / 2;
+                        topReal = top + halfSpacing;
+                        bottomReal = bottomReal - halfSpacing;
+                        leftReal = left + halfSpacing;
+                        rightReal = right - halfSpacing;
+                    }
+                    List<PathGenerator.Points> pathList = PathGenerator.generatePathPoints(
+                            leftReal, rightReal, topReal, bottomReal,
+                            spacing,
+                            PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN
+                    );
+                    List<List<DeviceCommand>> deviceCommandList = new ArrayList<>();
 
-                        for (int j = 0; j < pathList.size(); j++) {
-                            PathGenerator.Points p = pathList.get(j);
-                            List<DeviceCommand> deviceCommands = new ArrayList<>();
-                            if (j == pathList.size() - 1) {
-                                deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), 20.0));//移动x轴
-                                deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), 20.0));//移动y轴
-                            }else{
-                                deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), movingSpeed));//移动x轴
-                                deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), movingSpeed));//移动y轴
-                            }
-                            deviceCommandList.add(deviceCommands);
+                    for (int j = 0; j < pathList.size(); j++) {
+                        PathGenerator.Points p = pathList.get(j);
+                        List<DeviceCommand> deviceCommands = new ArrayList<>();
+                        if (j == pathList.size() - 1) {
+                            deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), movingSpeed));//移动x轴
+                            deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), movingSpeed));//移动y轴
+                        } else {
+                            deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), movingSpeed));//移动x轴
+                            deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), movingSpeed));//移动y轴
                         }
+                        deviceCommandList.add(deviceCommands);
+                    }
 
-                        SprayTaskStep sprayTaskStep = new SprayTaskStep();
-                        sprayTaskStep.setIndex(index);
-                        sprayTaskStep.setSpraySteps(deviceCommandList);
-                        sprayTask.getSprayTaskStepList().add(sprayTaskStep);
+                    SprayTaskStep sprayTaskStep = new SprayTaskStep();
+                    sprayTaskStep.setIndex(index);
+                    sprayTaskStep.setSpraySteps(deviceCommandList);
+                    sprayTask.getSprayTaskStepList().add(sprayTaskStep);
+                }
+            } else if ("vertical".equals(matrixPathType)) {
+                for (int i = 1; i <= times; i++) {
+                    double topReal = top;
+                    double bottomReal = bottom;
+                    double leftReal = left;
+                    double rightReal = right;
+                    if (i % 2 == 0) {//双数喷涂，插空移动边界
+                        double halfSpacing = spacing / 2;
+                        topReal = top + halfSpacing;
+                        bottomReal = bottomReal - halfSpacing;
+                        leftReal = left + halfSpacing;
+                        rightReal = right - halfSpacing;
                     }
-                } else if ("vertical".equals(matrixPathType)) {
-                    for (int i = 1; i <= times; i++) {
-                        double topReal = top;
-                        double bottomReal = bottom;
-                        double leftReal = left;
-                        double rightReal = right;
-                        if (i % 2 == 0) {//双数喷涂，插空移动边界
-                            double halfSpacing = spacing / 2;
-                            topReal = top + halfSpacing;
-                            bottomReal = bottomReal - halfSpacing;
-                            leftReal = left + halfSpacing;
-                            rightReal = right - halfSpacing;
-                        }
-                        List<PathGenerator.Points> pathList = PathGenerator.generatePathPoints(
-                                leftReal, rightReal, topReal, bottomReal,
-                                spacing,
-                                PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT
-                        );
-                        List<List<DeviceCommand>> deviceCommandList = new ArrayList<>();
-                        for (int j = 0; j < pathList.size(); j++) {
-                            PathGenerator.Points p = pathList.get(j);
-                            List<DeviceCommand> deviceCommands = new ArrayList<>();
-                            if (j == pathList.size() - 1) {
-                                deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), 20.0));//移动x轴
-                                deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), 20.0));//移动y轴
-                            }else{
-                                deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), movingSpeed));//移动x轴
-                                deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), movingSpeed));//移动y轴
-                            }
-                            deviceCommandList.add(deviceCommands);
+                    List<PathGenerator.Points> pathList = PathGenerator.generatePathPoints(
+                            leftReal, rightReal, topReal, bottomReal,
+                            spacing,
+                            PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT
+                    );
+                    List<List<DeviceCommand>> deviceCommandList = new ArrayList<>();
+                    for (int j = 0; j < pathList.size(); j++) {
+                        PathGenerator.Points p = pathList.get(j);
+                        List<DeviceCommand> deviceCommands = new ArrayList<>();
+                        if (j == pathList.size() - 1) {
+                            deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), movingSpeed));//移动x轴
+                            deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), movingSpeed));//移动y轴
+                        } else {
+                            deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), movingSpeed));//移动x轴
+                            deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), movingSpeed));//移动y轴
                         }
-                        SprayTaskStep sprayTaskStep = new SprayTaskStep();
-                        sprayTaskStep.setIndex(index);
-                        sprayTaskStep.setSpraySteps(deviceCommandList);
-                        sprayTask.getSprayTaskStepList().add(sprayTaskStep);
+                        deviceCommandList.add(deviceCommands);
                     }
-                } else if ("grid".equals(matrixPathType)) {
-                    for (int i = 1; i <= times; i++) {
-                        double topReal = top;
-                        double bottomReal = bottom;
-                        double leftReal = left;
-                        double rightReal = right;
-                        double halfSpacing = spacing / 2;
-                        if (i % 2 == 0) {//双数喷涂，插空移动边界
-                            topReal = top + halfSpacing;
-                            bottomReal = bottomReal - halfSpacing;
-                            leftReal = left + halfSpacing;
-                            rightReal = right - halfSpacing;
-                        }
-                        List<PathGenerator.Points> pathList = PathGenerator.generatePathPoints(
-                                leftReal, rightReal, topReal, bottomReal,
-                                spacing,
-                                PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN
-                        );
-                        List<List<DeviceCommand>> deviceCommandList = new ArrayList<>();
-                        for (int j = 0; j < pathList.size(); j++) {
-                            PathGenerator.Points p = pathList.get(j);
-                            List<DeviceCommand> deviceCommands = new ArrayList<>();
-                            if (j == pathList.size() - 1) {
-                                deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), 20.0));//移动x轴
-                                deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), 20.0));//移动y轴
-                            }else{
-                                deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), movingSpeed));//移动x轴
-                                deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), movingSpeed));//移动y轴
-                            }
-                            deviceCommandList.add(deviceCommands);
+                    SprayTaskStep sprayTaskStep = new SprayTaskStep();
+                    sprayTaskStep.setIndex(index);
+                    sprayTaskStep.setSpraySteps(deviceCommandList);
+                    sprayTask.getSprayTaskStepList().add(sprayTaskStep);
+                }
+            } else if ("grid".equals(matrixPathType)) {
+                for (int i = 1; i <= times; i++) {
+                    double topReal = top;
+                    double bottomReal = bottom;
+                    double leftReal = left;
+                    double rightReal = right;
+                    double halfSpacing = spacing / 2;
+                    if (i % 2 == 0) {//双数喷涂，插空移动边界
+                        topReal = top + halfSpacing;
+                        bottomReal = bottomReal - halfSpacing;
+                        leftReal = left + halfSpacing;
+                        rightReal = right - halfSpacing;
+                    }
+                    List<PathGenerator.Points> pathList = PathGenerator.generatePathPoints(
+                            leftReal, rightReal, topReal, bottomReal,
+                            spacing,
+                            PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN
+                    );
+                    List<List<DeviceCommand>> deviceCommandList = new ArrayList<>();
+                    for (int j = 0; j < pathList.size(); j++) {
+                        PathGenerator.Points p = pathList.get(j);
+                        List<DeviceCommand> deviceCommands = new ArrayList<>();
+                        if (j == pathList.size() - 1) {
+                            deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), movingSpeed));//移动x轴
+                            deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), movingSpeed));//移动y轴
+                        } else {
+                            deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), movingSpeed));//移动x轴
+                            deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), movingSpeed));//移动y轴
                         }
-                        SprayTaskStep sprayTaskStep = new SprayTaskStep();
-                        sprayTaskStep.setIndex(index);
-                        sprayTaskStep.setSpraySteps(deviceCommandList);
-                        sprayTask.getSprayTaskStepList().add(sprayTaskStep);
+                        deviceCommandList.add(deviceCommands);
+                    }
+                    SprayTaskStep sprayTaskStep = new SprayTaskStep();
+                    sprayTaskStep.setIndex(index);
+                    sprayTaskStep.setSpraySteps(deviceCommandList);
+                    sprayTask.getSprayTaskStepList().add(sprayTaskStep);
 
-                        pathList = PathGenerator.generatePathPoints(
-                                leftReal, rightReal, topReal, bottomReal,
-                                spacing,
-                                PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT
-                        );
-                        deviceCommandList = new ArrayList<>();
-                        for (int j = 0; j < pathList.size(); j++) {
-                            PathGenerator.Points p = pathList.get(j);
-                            List<DeviceCommand> deviceCommands = new ArrayList<>();
-                            if (j == pathList.size() - 1) {
-                                deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), 20.0));//移动x轴
-                                deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), 20.0));//移动y轴
-                            }else{
-                                deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), movingSpeed));//移动x轴
-                                deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), movingSpeed));//移动y轴
-                            }
-                            deviceCommandList.add(deviceCommands);
+                    pathList = PathGenerator.generatePathPoints(
+                            leftReal, rightReal, topReal, bottomReal,
+                            spacing,
+                            PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT
+                    );
+                    deviceCommandList = new ArrayList<>();
+                    for (int j = 0; j < pathList.size(); j++) {
+                        PathGenerator.Points p = pathList.get(j);
+                        List<DeviceCommand> deviceCommands = new ArrayList<>();
+                        if (j == pathList.size() - 1) {
+                            deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), movingSpeed));//移动x轴
+                            deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), movingSpeed));//移动y轴
+                        } else {
+                            deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), movingSpeed));//移动x轴
+                            deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), movingSpeed));//移动y轴
                         }
-                        SprayTaskStep sprayTaskStep2 = new SprayTaskStep();
-                        sprayTaskStep2.setIndex(index);
-                        sprayTaskStep2.setSpraySteps(deviceCommandList);
-                        sprayTask.getSprayTaskStepList().add(sprayTaskStep2);
+                        deviceCommandList.add(deviceCommands);
                     }
+                    SprayTaskStep sprayTaskStep2 = new SprayTaskStep();
+                    sprayTaskStep2.setIndex(index);
+                    sprayTaskStep2.setSpraySteps(deviceCommandList);
+                    sprayTask.getSprayTaskStepList().add(sprayTaskStep2);
                 }
+            }
+        }
+        return runAsync(() -> {
+            //XYZ回原点
+            DeviceCommand motorXOriginCommand = DeviceCommandGenerator.motorXOrigin();
+            DeviceCommand motorYOriginCommand = DeviceCommandGenerator.motorYOrigin();
+            DeviceCommand motorZOriginCommand = DeviceCommandGenerator.motorZOrigin();
+            CommandFuture motorXOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXOriginCommand);
+            CommandFuture motorYOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYOriginCommand);
+            CommandFuture motorZOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZOriginCommand);
+            commandWait(motorXOriginCommandFuture, motorYOriginCommandFuture, motorZOriginCommandFuture);
+
+            DeviceCommand threeWayValveOpenSyringePipelineCommand = DeviceCommandGenerator.threeWayValveOpenSyringePipeline();//打开三通阀喷嘴管路
+            CommandFuture threeWayValveOpenSyringePipelineCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), threeWayValveOpenSyringePipelineCommand);
+            commandWait(threeWayValveOpenSyringePipelineCommandFuture);
 
+            if (sprayTask.getSprayParams().getHighVoltage()) {//加电
+                DeviceCommand highVoltageOpenCommand = DeviceCommandGenerator.highVoltageOpen(highVoltageValue);//开启高压
+                CommandFuture highVoltageOpenCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), highVoltageOpenCommand);
+                commandWait(highVoltageOpenCommandFuture);
             }
-//            log.info(JSONUtil.toJsonStr(sprayTask.getSprayTaskStepList()));
+
+            DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen();//开启喷嘴阀
+            CommandFuture nozzleValveOpenCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), nozzleValveOpenCommand);
+            commandWait(nozzleValveOpenCommandFuture);
+
+
             // 10. 启动喷涂线程，开始喷涂
             sprayTaskExecutor.startTask();
             webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.SEND, "已开启喷涂线程"));

src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayStop.java

@@ -51,14 +51,14 @@ public class MatrixSprayStop extends BaseCommandHandler {
             CommandFuture motorZStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZStopCommand);
             commandWait(motorXStopCommandFuture, motorYStopCommandFuture, motorZStopCommandFuture);
 
-            //4.回到原点
-            DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(0.0);
-            DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorYPositionSet(0.0);
-            DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(0.0);
-            CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXPositionSetCommand);
-            CommandFuture motorYPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYPositionSetCommand);
-            CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZPositionSetCommand);
-            commandWait(motorXPositionSetCommandFuture, motorYPositionSetCommandFuture, motorZPositionSetCommandFuture);
+            //XYZ回原点
+            DeviceCommand motorXOriginCommand = DeviceCommandGenerator.motorXOrigin();
+            DeviceCommand motorYOriginCommand = DeviceCommandGenerator.motorYOrigin();
+            DeviceCommand motorZOriginCommand = DeviceCommandGenerator.motorZOrigin();
+            CommandFuture motorXOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXOriginCommand);
+            CommandFuture motorYOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYOriginCommand);
+            CommandFuture motorZOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZOriginCommand);
+            commandWait(motorXOriginCommandFuture, motorYOriginCommandFuture, motorZOriginCommandFuture);
 
             SprayTask.getInstance().clear();
             deviceStatus.setSpraying(false);

src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelineWash.java

@@ -59,17 +59,17 @@ public class NozzlePipelineWash extends BaseCommandHandler {
                 SysSettings safeZHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper<SysSettings>().eq(SysSettings::getCode, "safe_z_height"));
                 double safeZHeight = Double.parseDouble(safeZHeightSysSettings.getValue());
                 if (zAxisPosition > safeZHeight) { //z轴超出安全距离，抬升z轴
-                    DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(safeZHeight);
+                    DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(safeZHeight, 15.0);
                     CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZPositionSetCommand);
                     commandWait(motorZPositionSetCommandFuture);
                 }
                 Position wasteLiquor = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "waste_liquor"));
                 //2.轴移动到废液位置
-                DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(wasteLiquor.getX());
+                DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(wasteLiquor.getX(), 20.0);
                 CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXPositionSetCommand);
                 commandWait(motorXPositionSetCommandFuture);
                 //3.下降z轴高度，防止飞溅
-                DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(wasteLiquor.getZ());
+                DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(wasteLiquor.getZ(), 15.0);
                 CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZPositionSetCommand);
                 commandWait(motorZPositionSetCommandFuture);
                 //4.开启三通阀到喷嘴管路

src/main/java/com/qyft/ms/system/common/device/command/DeviceCommandGenerator.java

@@ -316,27 +316,6 @@ public class DeviceCommandGenerator {
     /**
      * 移动x轴到指定位置
      */
-    public static DeviceCommand motorXPositionSet(Double position) {
-        return motorXPositionSet(position, null, "移动x轴到指定位置");
-    }
-
-    /**
-     * 移动y轴到指定位置
-     */
-    public static DeviceCommand motorYPositionSet(Double position) {
-        return motorYPositionSet(position, null, "移动y轴到指定位置");
-    }
-
-    /**
-     * 移动z轴到指定位置
-     */
-    public static DeviceCommand motorZPositionSet(Double position) {
-        return motorZPositionSet(position, null, "移动z轴到指定位置");
-    }
-
-    /**
-     * 移动x轴到指定位置
-     */
     public static DeviceCommand motorXPositionSet(Double position, Double speed) {
         return motorXPositionSet(position, speed, "移动x轴到指定位置");
     }