fix:点击暂停时不再回原点

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

@@ -91,18 +91,21 @@ public class SprayTaskExecutor {
                         Double[] slide = slideArr[sprayTaskParam.getIndex()];//获取玻片的坐标
 
                         List<SprayTaskStep> sprayTaskStepList = getSprayPath(sprayTimes);//计算本次喷涂的路线
-                        //先移动到玻片左上角位置
-                        DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(slideArr[sprayTaskParam.getIndex()][0], 20.0);
-                        DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorYPositionSet(slideArr[sprayTaskParam.getIndex()][1], 20.0);
-                        CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXPositionSetCommand);
-                        CommandFuture motorYPositionSetCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYPositionSetCommand);
 
-                        SysSettings slideHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper<SysSettings>().eq(SysSettings::getCode, "slide_height"));
-                        Double slideHeight = Double.parseDouble(slideHeightSysSettings.getValue());
-                        Double height = slideHeight - sprayTimes.getMotorZHeight();//下降z轴高度
-                        DeviceCommand motorZPositionSetAboveSlideCommand = DeviceCommandGenerator.motorZPositionSet(height, 15.0);
-                        CommandFuture motorZPositionSetAboveSlideCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZPositionSetAboveSlideCommand);
-                        commandWait(motorXPositionSetCommandFuture, motorYPositionSetCommandFuture, motorZPositionSetAboveSlideCommandFuture);
+                        if(sprayTask.getCurrentStep() == 0){
+                            //先移动到玻片左上角位置
+                            DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(slideArr[sprayTaskParam.getIndex()][0], 20.0);
+                            DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorYPositionSet(slideArr[sprayTaskParam.getIndex()][1], 20.0);
+                            CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXPositionSetCommand);
+                            CommandFuture motorYPositionSetCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYPositionSetCommand);
+
+                            SysSettings slideHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper<SysSettings>().eq(SysSettings::getCode, "slide_height"));
+                            Double slideHeight = Double.parseDouble(slideHeightSysSettings.getValue());
+                            Double height = slideHeight - sprayTimes.getMotorZHeight();//下降z轴高度
+                            DeviceCommand motorZPositionSetAboveSlideCommand = DeviceCommandGenerator.motorZPositionSet(height, 15.0);
+                            CommandFuture motorZPositionSetAboveSlideCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZPositionSetAboveSlideCommand);
+                            commandWait(motorXPositionSetCommandFuture, motorYPositionSetCommandFuture, motorZPositionSetAboveSlideCommandFuture);
+                        }
 
                         DeviceCommand threeWayValveOpenSyringePipelineCommand = DeviceCommandGenerator.threeWayValveOpenNozzlePipeline();//打开三通阀注射器管路
                         CommandFuture threeWayValveOpenSyringePipelineCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), threeWayValveOpenSyringePipelineCommand);

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

@@ -61,31 +61,31 @@ public class MatrixSprayPause extends BaseCommandHandler {
             CommandFuture motorZStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZStopCommand);
             commandWait(motorXStopCommandFuture, motorYStopCommandFuture, motorZStopCommandFuture);
 
-            if(sprayTask.getCurrentStep() > 0 && sprayTask.getCurrentPausedPoint() == null){//只有在喷涂过程中才需要记录，并且记录点不可被覆盖
-                //记录当前位置
-                DeviceCommand motorXyzPositionGetCommand = DeviceCommandGenerator.motorXyzPositionGet(); // 生成获得电机XYZ相对原点坐标指令
-                CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXyzPositionGetCommand);
-                commandWait(motorXyzPositionGetCommandFuture);
-                JSONObject motorXyzPositionGetCommandDeviceResult = motorXyzPositionGetCommandFuture.getResponseResult();
-                Double xAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("xAxisPosition");
-                Double yAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("yAxisPosition");
-                Double zAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("zAxisPosition");
-                Point3D point3D = new Point3D(xAxisPosition, yAxisPosition, zAxisPosition);
-                sprayTask.setCurrentPausedPoint(point3D);
-            }
+//            if(sprayTask.getCurrentStep() > 0 && sprayTask.getCurrentPausedPoint() == null){//只有在喷涂过程中才需要记录，并且记录点不可被覆盖
+//                //记录当前位置
+//                DeviceCommand motorXyzPositionGetCommand = DeviceCommandGenerator.motorXyzPositionGet(); // 生成获得电机XYZ相对原点坐标指令
+//                CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXyzPositionGetCommand);
+//                commandWait(motorXyzPositionGetCommandFuture);
+//                JSONObject motorXyzPositionGetCommandDeviceResult = motorXyzPositionGetCommandFuture.getResponseResult();
+//                Double xAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("xAxisPosition");
+//                Double yAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("yAxisPosition");
+//                Double zAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("zAxisPosition");
+//                Point3D point3D = new Point3D(xAxisPosition, yAxisPosition, zAxisPosition);
+//                sprayTask.setCurrentPausedPoint(point3D);
+//            }
 
             OperationLog operationLog = operationLogService.getById(sprayTask.getOperationLogId());
             operationLog.setStatus(2);
             operationLogService.updateById(operationLog);
 
             //XYZ回原点
-            DeviceCommand motorXOriginCommand = DeviceCommandGenerator.motorXOrigin();
-            DeviceCommand motorYOriginCommand = DeviceCommandGenerator.motorYOrigin();
-            DeviceCommand motorZOriginCommand = DeviceCommandGenerator.motorZOrigin();
-            CommandFuture motorXOriginCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXOriginCommand);
-            CommandFuture motorYOriginCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYOriginCommand);
-            CommandFuture motorZOriginCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZOriginCommand);
-            commandWait(motorXOriginCommandFuture, motorYOriginCommandFuture, motorZOriginCommandFuture);
+//            DeviceCommand motorXOriginCommand = DeviceCommandGenerator.motorXOrigin();
+//            DeviceCommand motorYOriginCommand = DeviceCommandGenerator.motorYOrigin();
+//            DeviceCommand motorZOriginCommand = DeviceCommandGenerator.motorZOrigin();
+//            CommandFuture motorXOriginCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXOriginCommand);
+//            CommandFuture motorYOriginCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYOriginCommand);
+//            CommandFuture motorZOriginCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZOriginCommand);
+//            commandWait(motorXOriginCommandFuture, motorYOriginCommandFuture, motorZOriginCommandFuture);
         } catch (Exception e) {
             throw new RuntimeException(e);
         }finally {