fix:喷涂路线中才记录位置

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

@@ -38,8 +38,10 @@ public class MatrixSprayPause extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(FrontCmdControlForm form) {
         SprayTask sprayTask = SprayTask.getInstance();
+        if(sprayTask.isPaused()){
+            throw new RuntimeException("设备暂停中");
+        }
         sprayTask.setPaused(true);//设置已暂停
-        deviceStatus.setPaused(true);
         try {
             sprayTaskExecutor.stopTask();//终止喷涂任务线程
 
@@ -59,16 +61,18 @@ public class MatrixSprayPause extends BaseCommandHandler {
             CommandFuture motorZStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZStopCommand);
             commandWait(motorXStopCommandFuture, motorYStopCommandFuture, motorZStopCommandFuture);
 
-            //记录当前位置
-            DeviceCommand motorXyzPositionGetCommand = DeviceCommandGenerator.motorXyzPositionGet(); // 生成获得电机XYZ相对原点坐标指令
-            CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXyzPositionGetCommand);
-            commandWait(motorXyzPositionGetCommandFuture);
-            JSONObject motorXyzPositionGetCommandDeviceResult = motorXyzPositionGetCommandFuture.getResponseResult();
-            Double xAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("xAxisPosition");
-            Double yAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("yAxisPosition");
-            Double zAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("zAxisPosition");
-            Point3D point3D = new Point3D(xAxisPosition, yAxisPosition, zAxisPosition);
-            sprayTask.setCurrentPausedPoint(point3D);
+            if(sprayTask.getCurrentStep() > 0){
+                //记录当前位置
+                DeviceCommand motorXyzPositionGetCommand = DeviceCommandGenerator.motorXyzPositionGet(); // 生成获得电机XYZ相对原点坐标指令
+                CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXyzPositionGetCommand);
+                commandWait(motorXyzPositionGetCommandFuture);
+                JSONObject motorXyzPositionGetCommandDeviceResult = motorXyzPositionGetCommandFuture.getResponseResult();
+                Double xAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("xAxisPosition");
+                Double yAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("yAxisPosition");
+                Double zAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("zAxisPosition");
+                Point3D point3D = new Point3D(xAxisPosition, yAxisPosition, zAxisPosition);
+                sprayTask.setCurrentPausedPoint(point3D);
+            }
 
             OperationLog operationLog = operationLogService.getById(sprayTask.getOperationLogId());
             operationLog.setStatus(2);
@@ -84,6 +88,8 @@ public class MatrixSprayPause extends BaseCommandHandler {
             commandWait(motorXOriginCommandFuture, motorYOriginCommandFuture, motorZOriginCommandFuture);
         } catch (Exception e) {
             throw new RuntimeException(e);
+        }finally {
+            deviceStatus.setPaused(true);
         }
         return runAsync(() -> {