fix:修正喷涂路线页面显示位置不正确的问题

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

@@ -68,6 +68,16 @@ public class SprayTaskExecutor {
             webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.DEVICE_ERROR, "设备正在喷涂，请先停止喷涂"));
             return;
         }
+        Position slidePosition1 = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "slide_position1"));
+        Position slidePosition2 = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "slide_position2"));
+        Position slidePosition3 = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "slide_position3"));
+        Position slidePosition4 = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "slide_position4"));
+        Double[][] slideArr = {
+                {slidePosition1.getX(), slidePosition1.getY()},
+                {slidePosition2.getX(), slidePosition2.getY()},
+                {slidePosition3.getX(), slidePosition3.getY()},
+                {slidePosition4.getX(), slidePosition4.getY()}
+        };
 
         taskThread = new Thread(() -> {
             try {
@@ -88,6 +98,8 @@ public class SprayTaskExecutor {
                 int currentIndex = 0;
                 for (SprayTaskParams sprayTaskParam : sprayTaskParams) {//循环玻片
                     for (SprayTimes sprayTimes : sprayTaskParam.getTimes()) {//每个拨片有多次喷涂，循环每次喷涂
+                        Double[] slide = slideArr[sprayTaskParam.getIndex()];//获取玻片的坐标
+
                         List<SprayTaskStep> sprayTaskStepList = getSprayPath(sprayTaskParam.getIndex(), sprayTimes);//计算本次喷涂的路线
                         //先移动到玻片位置
                         DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(slideArr[sprayTaskParam.getIndex()][0], 20.0);
@@ -119,13 +131,13 @@ public class SprayTaskExecutor {
                                 Point2D currentPoint = sprayTaskStep.getSprayPathPointList().get(i);
                                 List<CommandFuture> commandFutureList = new ArrayList<>();
                                 if (cacheXPoint != currentPoint.x) {
-                                    DeviceCommand deviceCommand = DeviceCommandGenerator.motorXPositionSet(currentPoint.x, sprayTimes.getMovingSpeed());
+                                    DeviceCommand deviceCommand = DeviceCommandGenerator.motorXPositionSet(slide[0] + currentPoint.x, sprayTimes.getMovingSpeed());
                                     CommandFuture commandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), deviceCommand);
                                     commandFutureList.add(commandFuture);
                                     cacheXPoint = currentPoint.x;
                                 }
                                 if (cacheYPoint != currentPoint.y) {
-                                    DeviceCommand deviceCommand = DeviceCommandGenerator.motorXPositionSet(currentPoint.y, sprayTimes.getMovingSpeed());
+                                    DeviceCommand deviceCommand = DeviceCommandGenerator.motorXPositionSet(slide[1] +currentPoint.y, sprayTimes.getMovingSpeed());
                                     CommandFuture commandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), deviceCommand);
                                     commandFutureList.add(commandFuture);
                                     cacheYPoint = currentPoint.y;
@@ -211,24 +223,10 @@ public class SprayTaskExecutor {
 
     private List<SprayTaskStep> getSprayPath(Integer index, SprayTimes sprayTimes) {
         String matrixPathType = sprayTimes.getMatrixPathType();
-        Position slidePosition1 = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "slide_position1"));
-        Position slidePosition2 = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "slide_position2"));
-        Position slidePosition3 = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "slide_position3"));
-        Position slidePosition4 = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "slide_position4"));
-        Double[][] slideArr = {
-                {slidePosition1.getX(), slidePosition1.getY()},
-                {slidePosition2.getX(), slidePosition2.getY()},
-                {slidePosition3.getX(), slidePosition3.getY()},
-                {slidePosition4.getX(), slidePosition4.getY()}
-        };
-        Double[] upperLeft = {sprayTimes.getX1(), sprayTimes.getY1()}; //范围左上角 x1，y1
-        Double[] lowerRight = {sprayTimes.getX2(), sprayTimes.getY2()}; //范围左上角 x1，y1
-        Double[] slide = slideArr[index];//获取玻片的坐标
-        DecimalFormat df = new DecimalFormat("#.##");
-        double left = Double.parseDouble(df.format(slide[0] + upperLeft[0]));
-        double right = Double.parseDouble(df.format(slide[0] + lowerRight[0]));
-        double top = Double.parseDouble(df.format(slide[1] + upperLeft[1]));
-        double bottom = Double.parseDouble(df.format(slide[1] + lowerRight[1]));
+        double left = sprayTimes.getX1();
+        double right = sprayTimes.getX2();
+        double top = sprayTimes.getY1();
+        double bottom = sprayTimes.getY2();
         Double spacing = sprayTimes.getSpacing();
         List<SprayTaskStep> sprayTaskStepList = new CopyOnWriteArrayList<>();
         if ("horizontal".equals(matrixPathType)) {//喷涂路径类型 horizontal 横向 | vertical 纵向 | grid 网格先横向后纵向