我也不知道改了什么

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

@@ -81,6 +81,7 @@ public class SprayTaskExecutor {
                     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();
@@ -100,18 +101,19 @@ public class SprayTaskExecutor {
                     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;
                 for (SprayTaskStep sprayTaskStep : sprayTask.getSprayTaskStepList()) {//循环进行多次喷涂
-
-                    DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen();//开启喷嘴阀
                     DeviceCommand syringePumpForwardCommand = DeviceCommandGenerator.syringePumpForward(sprayTask.getSprayParams().getVolume());//推动移动注射泵
-                    CommandFuture nozzleValveOpenCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), nozzleValveOpenCommand);
                     CommandFuture syringePumpForwardCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpForwardCommand);
-                    commandWait(nozzleValveOpenCommandFuture, syringePumpForwardCommandFuture);
+                    commandWait(syringePumpForwardCommandFuture);
+                    Thread.sleep(100);
 
-                    List<Point2D> sprayStepList = new ArrayList<>();
                     sprayTask.setSuspendable(true);//可以暂停，单次喷涂范围内可以进行暂停
                     deviceStatus.setSuspendable(true);
                     for (int i = 0; i < sprayTaskStep.getSpraySteps().size(); i++) {//单次喷涂
@@ -126,7 +128,6 @@ public class SprayTaskExecutor {
                         }
 
                         CommandFuture[] commandFutureArray = commandFutureList.toArray(new CommandFuture[0]);
-//                        sprayTaskPointCollector.startCollecting(sprayTaskStep.getIndex()); //开启点位推送
                         Point2D currentPoint;
                         Point2D nextPoint = null;
                         if (i != 0) {
@@ -141,7 +142,6 @@ public class SprayTaskExecutor {
                             webSocketService.pushMsg(WebSocketMessageType.SPRAY_POINT, sprayTaskPointCollectorPushBO);
                         }
                         commandWait(commandFutureArray);
-//                        sprayTaskPointCollector.stopCollecting();//关闭点位推送
                         currentStep++;
                         sprayTask.setCurrentStep(currentStep);//将当前的喷涂进度缓存
                         if (nextPoint != null) {
@@ -156,16 +156,19 @@ public class SprayTaskExecutor {
                     sprayTask.setSuspendable(false);//不可暂停
                     deviceStatus.setSuspendable(false);
 
-                    DeviceCommand nozzleValveCloseCommand = DeviceCommandGenerator.nozzleValveClose();//关闭喷嘴阀
+
                     DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop();//停止推动注射泵
-                    CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), nozzleValveCloseCommand);
                     CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpStopCommand);
-                    commandWait(nozzleValveCloseCommandFuture, syringePumpStopCommandFuture);
+                    commandWait(syringePumpStopCommandFuture);
                     sprayNum++;
                 }
                 DeviceCommand highVoltageCloseCommand = DeviceCommandGenerator.highVoltageClose();//关闭高压
                 CommandFuture highVoltageCloseCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), highVoltageCloseCommand);
                 commandWait(highVoltageCloseCommandFuture);
+                Thread.sleep(500);
+                DeviceCommand nozzleValveCloseCommand = DeviceCommandGenerator.nozzleValveClose();//关闭喷嘴阀
+                CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), nozzleValveCloseCommand);
+                commandWait(nozzleValveCloseCommandFuture);
 
                 //XYZ回原点
                 DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(0.0);

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

@@ -41,23 +41,17 @@ public class DeviceSelfTest extends BaseCommandHandler {
             commandWait(motorXOriginCommandFuture, motorYOriginCommandFuture, motorZOriginCommandFuture);
             try {
                 if (motorXOriginCommandFuture.getResponseResult().getBool("status")) {
-                    selfTestService.getSelfTestStatus().setXAxisAtOrigin(true);
+                    selfTestService.getSelfTestStatus().setXAxisAtOrigin(false);
                 }
-            } catch (Exception ignored) {
-            }
-            try {
                 if (motorYOriginCommandFuture.getResponseResult().getBool("status")) {
                     selfTestService.getSelfTestStatus().setYAxisAtOrigin(true);
                 }
-            } catch (Exception ignored) {
-            }
-            try {
                 if (motorZOriginCommandFuture.getResponseResult().getBool("status")) {
                     selfTestService.getSelfTestStatus().setZAxisAtOrigin(true);
                 }
+                deviceStatus.setSelfTestCompleted(true);
             } catch (Exception ignored) {
             }
-            deviceStatus.setSelfTestCompleted(true);
         });
     }
 }

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

@@ -35,11 +35,18 @@ public class MatrixSprayContinue extends BaseCommandHandler {
             throw new RuntimeException("设备没有正在喷涂");
         }
         return runAsync(() -> {
-            DeviceCommand syringePumpForwardCommand = DeviceCommandGenerator.syringePumpForward(sprayTask.getSprayParams().getVolume()); //推动注射泵
-            CommandFuture syringePumpForwardCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpForwardCommand);
+            DeviceCommand threeWayValveOpenSyringePipelineCommand = DeviceCommandGenerator.threeWayValveOpenSyringePipeline();//打开三通阀喷嘴管路
+            CommandFuture threeWayValveOpenSyringePipelineCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), threeWayValveOpenSyringePipelineCommand);
+            commandWait(threeWayValveOpenSyringePipelineCommandFuture);
+
             DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen(); //打开喷嘴阀
             CommandFuture nozzleValveOpenCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleValveOpenCommand);
-            commandWait(syringePumpForwardCommandFuture, nozzleValveOpenCommandFuture);
+            commandWait(nozzleValveOpenCommandFuture);
+
+            DeviceCommand syringePumpForwardCommand = DeviceCommandGenerator.syringePumpForward(sprayTask.getSprayParams().getVolume()); //推动注射泵
+            CommandFuture syringePumpForwardCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpForwardCommand);
+            commandWait(syringePumpForwardCommandFuture);
+
             if (sprayTask.getSprayParams().getHighVoltage()) {
                 DeviceCommand highVoltageOpenCommand = DeviceCommandGenerator.highVoltageOpen(sprayTask.getSprayParams().getHighVoltageValue()); //打开高压
                 CommandFuture highVoltageOpenCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), highVoltageOpenCommand);

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

@@ -79,10 +79,8 @@ public class NozzlePipelinePreFill extends BaseCommandHandler {
             //5.打开三通阀注射器管路
             DeviceCommand threeWayValveOpenNozzlePipelineCommand = DeviceCommandGenerator.threeWayValveOpenNozzlePipeline();
             CommandFuture threeWayValveOpenNozzlePipelineCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), threeWayValveOpenNozzlePipelineCommand);
-            //6.打开喷嘴阀
-            DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen(); // 生成开启喷嘴阀指令
-            CommandFuture nozzleValveOpenCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleValveOpenCommand);
-            commandWait(nozzleValveOpenCommandFuture, threeWayValveOpenNozzlePipelineCommandFuture);
+            commandWait(threeWayValveOpenNozzlePipelineCommandFuture);
+            Thread.sleep(500);
             //7.设置注射泵速度，推注射泵
             DeviceCommand syringePumpStartCommand = DeviceCommandGenerator.syringePumpForward(speed); // 生成移动注射泵指令
             CommandFuture syringePumpStartCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpStartCommand);

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

@@ -32,13 +32,11 @@ public class NozzlePipelinePreFillStop extends BaseCommandHandler {
             //1.停止推动注射泵
             DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop();//停止推动注射泵
             CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpStopCommand);
+            Thread.sleep(500);
             //2.全部关闭三通阀
             DeviceCommand threeWayValveCloseAllCommand = DeviceCommandGenerator.threeWayValveCloseAll(); // 生成全部关闭三通阀指令
             CommandFuture threeWayValveCloseAllCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), threeWayValveCloseAllCommand);
-            //3.关闭喷嘴阀
-            DeviceCommand nozzleValveCloseCommand = DeviceCommandGenerator.nozzleValveClose(); //关闭喷嘴阀
-            CommandFuture nozzleValveCloseCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleValveCloseCommand);
-            commandWait(syringePumpStopCommandFuture, threeWayValveCloseAllCommandFuture, nozzleValveCloseCommandFuture);
+            commandWait(syringePumpStopCommandFuture, threeWayValveCloseAllCommandFuture);
 
             deviceStatus.setPrefilling(false);
         });