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

@@ -92,10 +92,6 @@ public class SprayTaskExecutor {
                         DeviceCommand motorZPositionSetAboveSlideCommand = DeviceCommandGenerator.motorZPositionSet(height, 15.0);
                         CommandFuture motorZPositionSetAboveSlideCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZPositionSetAboveSlideCommand);
                         commandWait(motorXPositionSetCommandFuture, motorYPositionSetCommandFuture, motorZPositionSetAboveSlideCommandFuture);
-
-                        DeviceCommand syringePumpForwardCommand = DeviceCommandGenerator.syringePumpForward(sprayTask.getSprayParams().getVolume());//推动移动注射泵
-                        CommandFuture syringePumpForwardCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpForwardCommand);
-                        commandWait(syringePumpForwardCommandFuture);
                     }
                     Thread.sleep(100);
                     sprayTask.setSuspendable(true);//可以暂停，单次喷涂范围内可以进行暂停
@@ -103,7 +99,6 @@ public class SprayTaskExecutor {
                     double cacheXPoint = -1;
                     double cacheYPoint = -1;
                     DecimalFormat df = new DecimalFormat("#.##");
-
                     for (int i = 0; i < sprayTaskStep.getSpraySteps().size(); i++) {//单次喷涂
                         if (currentIndex != sprayTaskStep.getIndex()) {
                             sprayNum = 0;
@@ -113,7 +108,12 @@ public class SprayTaskExecutor {
                             currentStep++;
                             continue;
                         }
-                        sprayTask.setFirstImmobility(false);
+                        if(i == 1){
+                            DeviceCommand syringePumpForwardCommand = DeviceCommandGenerator.syringePumpForward(sprayTask.getSprayParams().getVolume());//推动移动注射泵
+                            CommandFuture syringePumpForwardCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpForwardCommand);
+                            commandWait(syringePumpForwardCommandFuture);
+                        }
+                        sprayTask.setFirstImmobility(true);
                         List<DeviceCommand> sprayStepCommands = sprayTaskStep.getSpraySteps().get(i);
                         DeviceCommand xSprayStepCommands = sprayStepCommands.get(0);
                         xSprayStepCommands.getParam().put("speed", sprayTask.getSprayParams().getMovingSpeed());//防止修改了移动速度这里重新设置移动速度