From 6353ac6ee58ae251feb5b221790cf6cf98a78698 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= Date: Thu, 17 Jul 2025 17:32:28 +0800 Subject: [PATCH] =?UTF-8?q?fix:=E4=BF=AE=E5=A4=8D=E6=9A=82=E5=81=9C?= =?UTF-8?q?=E6=97=B6=E9=98=80=E9=97=A8=E7=8A=B6=E6=80=81=E4=B8=8D=E6=AD=A3?= =?UTF-8?q?=E7=A1=AE=E7=9A=84=E9=97=AE=E9=A2=98?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/main/java/com/qyft/ms/app/device/spray/SprayTaskExecutor.java | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/qyft/ms/app/device/spray/SprayTaskExecutor.java b/src/main/java/com/qyft/ms/app/device/spray/SprayTaskExecutor.java index 3b5bf5e..ac65ec2 100644 --- a/src/main/java/com/qyft/ms/app/device/spray/SprayTaskExecutor.java +++ b/src/main/java/com/qyft/ms/app/device/spray/SprayTaskExecutor.java @@ -114,6 +114,7 @@ public class SprayTaskExecutor { DeviceCommand threeWayValveOpenSyringePipelineCommand = DeviceCommandGenerator.threeWayValveOpenNozzlePipeline();//三通阀切换到注射器管路 CommandFuture threeWayValveOpenSyringePipelineCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), threeWayValveOpenSyringePipelineCommand); + 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 @@ -142,11 +143,12 @@ public class SprayTaskExecutor { DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen();//开启喷嘴阀 CommandFuture nozzleValveOpenCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), nozzleValveOpenCommand); - commandWait(threeWayValveOpenSyringePipelineCommandFuture, nozzleValveOpenCommandFuture); + commandWait(nozzleValveOpenCommandFuture); DeviceCommand syringePumpForwardCommand = DeviceCommandGenerator.syringePumpForward(sprayTimes.getVolume());//推动移动注射泵 CommandFuture syringePumpForwardCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpForwardCommand); commandWait(syringePumpForwardCommandFuture); + for (int i = 0; i < sprayTaskStep.getSprayPathPointList().size(); i++) {//循环路线 if (currentStep < sprayTask.getCurrentStep()) { currentStep++;