我也不知道改了什么

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

@@ -39,11 +39,24 @@ public class DeviceSelfTest extends BaseCommandHandler {
             DeviceCommand motorZOriginCommand = DeviceCommandGenerator.motorZOrigin();//z轴回原点
             CommandFuture motorZOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZOriginCommand);
             commandWait(motorXOriginCommandFuture, motorYOriginCommandFuture, motorZOriginCommandFuture);
-
-            selfTestService.getSelfTestStatus().setXAxisAtOrigin(true);
-            selfTestService.getSelfTestStatus().setYAxisAtOrigin(true);
-            selfTestService.getSelfTestStatus().setZAxisAtOrigin(true);
-
+            try {
+                if (motorXOriginCommandFuture.getResponseResult().getBool("status")) {
+                    selfTestService.getSelfTestStatus().setXAxisAtOrigin(true);
+                }
+            } 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);
+                }
+            } catch (Exception ignored) {
+            }
             deviceStatus.setSelfTestCompleted(true);
         });
     }

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

@@ -55,8 +55,8 @@ public class NozzlePipelinePreFill extends BaseCommandHandler {
             CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXyzPositionGetCommand);
             commandWait(motorXyzPositionGetCommandFuture);
             JSONObject motorXyzPositionGetCommandDeviceResult = motorXyzPositionGetCommandFuture.getResponseResult();
-            Double zAxisPosition = motorXyzPositionGetCommandDeviceResult.getDouble("zAxisPosition");
-            if (zAxisPosition == null || zAxisPosition < 0.0) {
+            Double zAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("zAxisPosition");
+            if (zAxisPosition == null) {
                 webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.ERROR, "获得电机XYZ相对原点坐标失败"));
                 throw new RuntimeException("获得电机XYZ相对原点坐标失败");
             }

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

@@ -51,8 +51,8 @@ public class NozzlePipelineWash extends BaseCommandHandler {
                 CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXyzPositionGetCommand);
                 commandWait(motorXyzPositionGetCommandFuture);
                 JSONObject motorXyzPositionGetCommandDeviceResult = motorXyzPositionGetCommandFuture.getResponseResult();
-                Double zAxisPosition = motorXyzPositionGetCommandDeviceResult.getDouble("zAxisPosition");
-                if (zAxisPosition == null || zAxisPosition < 0.0) {
+                Double zAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("zAxisPosition");
+                if (zAxisPosition == null) {
                     webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.ERROR, "获得电机XYZ相对原点坐标失败", motorXyzPositionGetCommandDeviceResult));
                     throw new RuntimeException("获得电机XYZ相对原点坐标失败");
                 }

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

@@ -56,8 +56,8 @@ public class SyringePipelineWash extends BaseCommandHandler {
                 CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXyzPositionGetCommand);
                 commandWait(motorXyzPositionGetCommandFuture);
                 JSONObject motorXyzPositionGetCommandDeviceResult = motorXyzPositionGetCommandFuture.getResponseResult();
-                Double zAxisPosition = motorXyzPositionGetCommandDeviceResult.getDouble("zAxisPosition");
-                if (zAxisPosition == null || zAxisPosition < 0.0) {
+                Double zAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("zAxisPosition");
+                if (zAxisPosition == null) {
                     webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.ERROR, "获得电机XYZ相对原点坐标失败", motorXyzPositionGetCommandDeviceResult));
                     throw new RuntimeException("获得电机XYZ相对原点坐标失败");
                 }

src/main/java/com/qyft/ms/app/front/cmd/debug/MotorXMove.java

@@ -37,7 +37,7 @@ public class MotorXMove extends BaseCommandHandler {
             commandWait(motorXyzPositionGetCommandFuture);
 
             JSONObject motorXyzPositionGetCommandResult = motorXyzPositionGetCommandFuture.getResponseResult();
-            Double xAxisPosition = motorXyzPositionGetCommandResult.getDouble("xAxisPosition");
+            Double xAxisPosition = motorXyzPositionGetCommandResult.getJSONObject("data").getDouble("xAxisPosition");
 
             // 计算目标位置
             double finalPosition = 0.0;

src/main/java/com/qyft/ms/app/front/cmd/debug/MotorYMove.java

@@ -36,7 +36,7 @@ public class MotorYMove extends BaseCommandHandler {
             CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXyzPositionGetCommand);
             commandWait(motorXyzPositionGetCommandFuture);
             JSONObject motorXyzPositionGetCommandDeviceResult = motorXyzPositionGetCommandFuture.getResponseResult();
-            Double yAxisPosition = motorXyzPositionGetCommandDeviceResult.getDouble("yAxisPosition");
+            Double yAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("yAxisPosition");
 
             // 计算目标位置
             double finalPosition = 0.0;

src/main/java/com/qyft/ms/app/front/cmd/debug/MotorZMove.java

@@ -37,7 +37,7 @@ public class MotorZMove extends BaseCommandHandler {
             CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXyzPositionGetCommand);
             commandWait(motorXyzPositionGetCommandFuture);
             JSONObject motorXyzPositionGetCommandDeviceResult = motorXyzPositionGetCommandFuture.getResponseResult();
-            Double zAxisPosition = motorXyzPositionGetCommandDeviceResult.getDouble("zAxisPosition");
+            Double zAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("zAxisPosition");
 
             // 根据方向计算最终位置
             double finalPosition = 0.0;