我也不知道改了什么

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

@@ -146,15 +146,27 @@ public class SprayTaskExecutor {
 
                     sprayTask.setSuspendable(true);//可以暂停，单次喷涂范围内可以进行暂停
                     deviceStatus.setSuspendable(true);
+                    double cacheXPoint = -1;
+                    double cacheYPoint = -1;
                     for (int i = 0; i < sprayTaskStep.getSpraySteps().size(); i++) {//单次喷涂
                         if (currentStep < reCurrentStep) {
                             continue;
                         }
                         List<DeviceCommand> sprayStepCommands = sprayTaskStep.getSpraySteps().get(i);
                         List<CommandFuture> commandFutureList = new ArrayList<>();
+                        double aXPoint = (double) sprayStepCommands.get(0).getParam().get("position");
+                        double aYPoint = (double) sprayStepCommands.get(1).getParam().get("position");
                         for (DeviceCommand sprayStep : sprayStepCommands) {
-                            CommandFuture commandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), sprayStep);
-                            commandFutureList.add(commandFuture);
+                            if(cacheXPoint != aXPoint){
+                                CommandFuture commandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), sprayStep);
+                                commandFutureList.add(commandFuture);
+                                cacheXPoint = aXPoint;
+                            }
+                            if(cacheYPoint != aYPoint){
+                                CommandFuture commandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), sprayStep);
+                                commandFutureList.add(commandFuture);
+                                cacheYPoint = aYPoint;
+                            }
                         }
 
                         CommandFuture[] commandFutureArray = commandFutureList.toArray(new CommandFuture[0]);

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

@@ -208,13 +208,12 @@ public class MatrixSprayStart extends BaseCommandHandler {
                         for (int j = 0; j < pathList.size(); j++) {
                             PathGenerator.Points p = pathList.get(j);
                             List<DeviceCommand> deviceCommands = new ArrayList<>();
-                            if (j == 0) {
-                                deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), movingSpeed));//移动x轴
-                                deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), movingSpeed));//移动y轴
-                            }
                             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);
                         }
@@ -246,13 +245,12 @@ public class MatrixSprayStart extends BaseCommandHandler {
                         for (int j = 0; j < pathList.size(); j++) {
                             PathGenerator.Points p = pathList.get(j);
                             List<DeviceCommand> deviceCommands = new ArrayList<>();
-                            if (j == 0) {
-                                deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), movingSpeed));//移动x轴
-                                deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), movingSpeed));//移动y轴
-                            }
                             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);
                         }
@@ -283,13 +281,12 @@ public class MatrixSprayStart extends BaseCommandHandler {
                         for (int j = 0; j < pathList.size(); j++) {
                             PathGenerator.Points p = pathList.get(j);
                             List<DeviceCommand> deviceCommands = new ArrayList<>();
-                            if (j == 0) {
-                                deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), movingSpeed));//移动x轴
-                                deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), movingSpeed));//移动y轴
-                            }
                             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);
                         }
@@ -307,13 +304,12 @@ public class MatrixSprayStart extends BaseCommandHandler {
                         for (int j = 0; j < pathList.size(); j++) {
                             PathGenerator.Points p = pathList.get(j);
                             List<DeviceCommand> deviceCommands = new ArrayList<>();
-                            if (j == 0) {
-                                deviceCommands.add(DeviceCommandGenerator.motorXPositionSet(p.getX(), movingSpeed));//移动x轴
-                                deviceCommands.add(DeviceCommandGenerator.motorYPositionSet(75.5 - p.getY(), movingSpeed));//移动y轴
-                            }
                             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);
                         }