fix:喷涂流程调整，暂停方式调整

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

@@ -67,41 +67,24 @@ 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 {
                 webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.START, "喷涂任务开始执行"));
                 List<SprayTaskParams> sprayTaskParams = sprayTask.getSprayTaskParams();
-
-                DeviceCommand threeWayValveOpenSyringePipelineCommand = DeviceCommandGenerator.threeWayValveOpenNozzlePipeline();//打开三通阀注射器管路
-                CommandFuture threeWayValveOpenSyringePipelineCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), threeWayValveOpenSyringePipelineCommand);
-                commandWait(threeWayValveOpenSyringePipelineCommandFuture);
-
-                DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen();//开启喷嘴阀
-                CommandFuture nozzleValveOpenCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), nozzleValveOpenCommand);
-                commandWait(nozzleValveOpenCommandFuture);
-
-                int currentStep = 0; //当前喷涂步骤
-                int sprayCount = 0;
-                int sprayNum = 1;
-                int currentIndex = 0;
+                int currentStep = 0; //不管是暂停还是新的线程，记录当前线程喷涂步骤序号
+                int sprayNum = 1; //当前玻片是第几次喷涂
                 for (SprayTaskParams sprayTaskParam : sprayTaskParams) {//循环玻片
+                    if (sprayTask.getCurrentIndex() != null && sprayTaskParam.getIndex() > sprayTask.getCurrentIndex()) {
+                        continue;
+                    }
+                    sprayTask.setCurrentIndex(sprayTaskParam.getIndex());
                     for (SprayTimes sprayTimes : sprayTaskParam.getTimes()) {//每个拨片有多次喷涂，循环每次喷涂
                         sprayTask.setSprayTimes(sprayTimes);
                         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
+                        //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(75.5 - slideArr[sprayTaskParam.getIndex()][1], 20.0);
                         CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXPositionSetCommand);
@@ -113,10 +96,31 @@ public class SprayTaskExecutor {
                         DeviceCommand motorZPositionSetAboveSlideCommand = DeviceCommandGenerator.motorZPositionSet(height, 15.0);
                         CommandFuture motorZPositionSetAboveSlideCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZPositionSetAboveSlideCommand);
                         commandWait(motorXPositionSetCommandFuture, motorYPositionSetCommandFuture, motorZPositionSetAboveSlideCommandFuture);
-                        Thread.sleep(100);
+
+                        DeviceCommand threeWayValveOpenSyringePipelineCommand = DeviceCommandGenerator.threeWayValveOpenNozzlePipeline();//打开三通阀注射器管路
+                        CommandFuture threeWayValveOpenSyringePipelineCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), threeWayValveOpenSyringePipelineCommand);
+
+                        DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen();//开启喷嘴阀
+                        CommandFuture nozzleValveOpenCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), nozzleValveOpenCommand);
+                        commandWait(threeWayValveOpenSyringePipelineCommandFuture, nozzleValveOpenCommandFuture);
+
+                        delay(500);
+                        //判断是否有暂停的点位，如果有则还原暂停时的点位
+                        Point3D currentPausedPoint = sprayTask.getCurrentPausedPoint();
+                        if (currentPausedPoint != null) {
+                            DeviceCommand motorXRestoreCommand = DeviceCommandGenerator.motorXPositionSet(currentPausedPoint.x, 20.0);
+                            DeviceCommand motorYRestoreCommand = DeviceCommandGenerator.motorYPositionSet(currentPausedPoint.y, 20.0);
+                            DeviceCommand motorZRestoreCommand = DeviceCommandGenerator.motorZPositionSet(currentPausedPoint.z, 20.0);
+                            CommandFuture motorXRestoreCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXRestoreCommand);
+                            CommandFuture motorYRestoreCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYRestoreCommand);
+                            CommandFuture motorZRestoreCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZRestoreCommand);
+                            commandWait(motorXRestoreCommandFuture, motorYRestoreCommandFuture, motorZRestoreCommandFuture);
+                            sprayTask.setCurrentPausedPoint(null);
+                        }
+
+                        //因为走的是折现，所以单词指令只需要移动x或y，缓存上一个点位用来判断本次是走x还是y
                         double cacheXPoint = -1;
                         double cacheYPoint = -1;
-                        sprayNum++;
                         for (SprayTaskStep sprayTaskStep : sprayTaskStepList) {//因为田字格喷涂其实是两次
                             if (sprayTimes.getHighVoltage()) {//加电
                                 DeviceCommand highVoltageOpenCommand = DeviceCommandGenerator.highVoltageOpen(sprayTimes.getHighVoltageValue());//开启高压
@@ -128,6 +132,10 @@ public class SprayTaskExecutor {
                             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++;
+                                    continue;
+                                }
                                 Point2D currentPoint = sprayTaskStep.getSprayPathPointList().get(i);
                                 List<CommandFuture> commandFutureList = new ArrayList<>();
                                 if (cacheXPoint != currentPoint.x) {
@@ -142,19 +150,19 @@ public class SprayTaskExecutor {
                                     commandFutureList.add(commandFuture);
                                     cacheYPoint = currentPoint.y;
                                 }
-                                SprayTaskPointCollectorPushBO sprayTaskPointCollectorPushBO = new SprayTaskPointCollectorPushBO(sprayTask.getCmdId(), sprayTask.getCmdCode(), sprayTaskParam.getIndex(), sprayNum, sprayCount, currentPoint);
+                                SprayTaskPointCollectorPushBO sprayTaskPointCollectorPushBO = new SprayTaskPointCollectorPushBO(sprayTask.getCmdId(), sprayTask.getCmdCode(), sprayTaskParam.getIndex(), sprayNum, currentPoint);
                                 webSocketService.pushMsg(WebSocketMessageType.SPRAY_POINT, sprayTaskPointCollectorPushBO);//向前端推送当前路径
 
                                 CommandFuture[] commandFutureArray = commandFutureList.toArray(new CommandFuture[0]);
                                 commandWait(commandFutureArray);
-                                currentStep++;//当前喷涂步数自增
+                                currentStep++;//当前喷涂步数。因为暂停可能本次路线还没走完，所以这里只有在走完一次路线后才会自增
+                                sprayTask.setCurrentStep(currentStep);
                             }
                             //一次喷涂完毕后停止推注射泵
                             DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop();//停止推动注射泵
                             CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), syringePumpStopCommand);
                             commandWait(syringePumpStopCommandFuture);
                         }
-                        sprayCount++;
                         sprayNum++;
                     }
                 }
@@ -176,6 +184,10 @@ public class SprayTaskExecutor {
                 CommandFuture motorZOriginCommandFuture = deviceCommandService.sendCommandSprayTask(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorZOriginCommand);
                 commandWait(motorXOriginCommandFuture, motorYOriginCommandFuture, motorZOriginCommandFuture);
 
+                SprayTask.getInstance().clear();
+                deviceStatus.setSpraying(false);//是否正在进行喷涂
+                deviceStatus.setPaused(false);//是否暂停
+
                 webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SUCCESS, "喷涂任务执行成功"));
                 webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SPRAY_TASK_FINISH, "喷涂任务结束"));
             } catch (InterruptedException e) {
@@ -184,13 +196,10 @@ public class SprayTaskExecutor {
                 log.info("喷涂任务失败", e);
                 webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.FAIL, "喷涂任务执行失败"));
                 webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SPRAY_TASK_FINISH, "喷涂任务结束"));
-
                 SprayTask.getInstance().clear();
+                deviceStatus.setSpraying(false);//是否正在进行喷涂
+                deviceStatus.setPaused(false);//是否暂停
             } finally {
-                SprayTask.getInstance().clear();
-                deviceStatus.setSpraying(false);
-                deviceStatus.setPaused(false);
-                deviceStatus.setSuspendable(false);
                 webSocketService.pushDebugMsg(FrontResponseGenerator.generateJson(sprayTask.getCmdId(), sprayTask.getCmdCode(), CommandStatus.SEND, "喷涂任务线程退出"));
                 // 在线程结束后将 taskThread 设置为 null，保证状态一致和资源释放
                 synchronized (this) {
@@ -272,4 +281,11 @@ public class SprayTaskExecutor {
         return sprayTaskStepList;
     }
 
+    private void delay(long millisecond) {
+        try {
+            Thread.sleep(millisecond);
+        } catch (Exception e) {
+            throw new RuntimeException(e);
+        }
+    }
 }

src/main/java/com/qyft/ms/app/device/status/DeviceStatus.java

@@ -23,11 +23,6 @@ public class DeviceStatus {
     private volatile boolean paused = false;
 
     /**
-     * 当前状态是否可以暂停
-     */
-    private volatile boolean suspendable = false;
-
-    /**
      * 是否正在清洗注射器管路
      */
     private volatile boolean cleaningSyringePipeline = false;
@@ -76,7 +71,6 @@ public class DeviceStatus {
         JSONObject json = new JSONObject();
         json.putOnce("spraying", spraying);
         json.putOnce("paused", paused);
-        json.putOnce("suspendable", suspendable);
         json.putOnce("cleaningSyringePipeline", cleaningSyringePipeline);
         json.putOnce("cleaningNozzlePipeline", cleaningNozzlePipeline);
         json.putOnce("prefilling", prefilling);

src/main/java/com/qyft/ms/app/device/status/SprayTask.java

@@ -1,5 +1,6 @@
 package com.qyft.ms.app.device.status;
 
+import com.qyft.ms.app.model.bo.Point3D;
 import com.qyft.ms.app.model.bo.SprayTaskParams;
 import com.qyft.ms.app.model.bo.SprayTimes;
 import lombok.Data;
@@ -22,6 +23,14 @@ public class SprayTask {
      */
     private volatile int currentStep = 0;
     /**
+     * 当前喷涂的玻片序号
+     */
+    private Integer currentIndex = null;
+    /**
+     * 当前暂停点位
+     */
+    private Point3D currentPausedPoint = null;
+    /**
      * 当前喷涂任务所有参数
      */
     private List<SprayTaskParams> sprayTaskParams = null;
@@ -33,6 +42,7 @@ public class SprayTask {
      * 标志喷涂任务暂停
      */
     private volatile boolean paused = false;
+
     /**
      * 标志喷涂任务结束
      */
@@ -42,7 +52,7 @@ public class SprayTask {
      */
     private volatile boolean spraying = false;
 
-    private final Object pauseLock = new Object();
+
     private final Object closeLock = new Object();
 
     private SprayTask() {
@@ -60,6 +70,8 @@ public class SprayTask {
         currentStep = 0;
         sprayTaskParams = null;
         sprayTimes = null;
+        currentPausedPoint = null;
+        currentIndex = null;
     }
 
     private static class Holder {

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

@@ -36,9 +36,7 @@ public class MatrixSprayContinue extends BaseCommandHandler {
         if (!sprayTask.isSpraying()) {
             throw new RuntimeException("设备没有正在喷涂");
         }
-        sprayTask.setSpraying(true);
-        sprayTask.setPaused(false);
-        deviceStatus.setSpraying(true);
+        sprayTask.setPaused(false);//解除暂停
         deviceStatus.setPaused(false);
         SprayTimes sprayTimes = sprayTask.getSprayTimes();
         return runAsync(() -> {
@@ -60,9 +58,7 @@ public class MatrixSprayContinue extends BaseCommandHandler {
             CommandFuture syringePumpForwardCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpForwardCommand);
             commandWait(syringePumpForwardCommandFuture);
 
-            synchronized(sprayTask.getPauseLock()) {
-                sprayTask.getPauseLock().notify();
-            }
+            sprayTaskExecutor.startTask();
         });
 
     }

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

@@ -1,9 +1,11 @@
 package com.qyft.ms.app.front.cmd.business;
 
 
+import cn.hutool.json.JSONObject;
 import com.qyft.ms.app.device.spray.SprayTaskExecutor;
 import com.qyft.ms.app.device.status.DeviceStatus;
 import com.qyft.ms.app.device.status.SprayTask;
+import com.qyft.ms.app.model.bo.Point3D;
 import com.qyft.ms.system.common.annotation.CommandMapping;
 import com.qyft.ms.system.common.device.command.CommandFuture;
 import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
@@ -33,10 +35,11 @@ public class MatrixSprayPause extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(FrontCmdControlForm form) {
         SprayTask sprayTask = SprayTask.getInstance();
-        sprayTask.setPaused(true);//已暂停
+        sprayTask.setPaused(true);//设置已暂停
         deviceStatus.setPaused(true);
-        deviceStatus.setSuspendable(false);
         try {
+            sprayTaskExecutor.stopTask();//终止喷涂任务线程
+
             DeviceCommand syringePumpStopCommand = DeviceCommandGenerator.syringePumpStop(); //停止推动注射泵
             CommandFuture syringePumpStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpStopCommand);
             DeviceCommand nozzleValveCloseCommand = DeviceCommandGenerator.nozzleValveClose(); //关闭喷嘴阀
@@ -53,9 +56,25 @@ public class MatrixSprayPause extends BaseCommandHandler {
             CommandFuture motorZStopCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZStopCommand);
             commandWait(motorXStopCommandFuture, motorYStopCommandFuture, motorZStopCommandFuture);
 
-            while (!sprayTaskExecutor.taskThreadIsWaiting()) {
-                Thread.sleep(5);
-            }
+            //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);
+
+            //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);
         } catch (Exception e) {
             throw new RuntimeException(e);
         }

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

@@ -71,10 +71,8 @@ public class MatrixSprayStart extends BaseCommandHandler {
         }
         sprayTask.setCmdId(form.getCmdId());
         sprayTask.setCmdCode(form.getCmdCode());
-        sprayTask.setClose(false);
         sprayTask.setSpraying(true);//正在进行喷涂
         deviceStatus.setSpraying(true);
-
         return runAsync(() -> {
             //喷涂开始前先回原点
             DeviceCommand overallDeviceStatusGetCommand = DeviceCommandGenerator.overallDeviceStatusGet();

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

@@ -77,7 +77,6 @@ public class MatrixSprayStop extends BaseCommandHandler {
             SprayTask.getInstance().clear();
             deviceStatus.setSpraying(false);
             deviceStatus.setPaused(false);
-            deviceStatus.setSuspendable(false);
         });
     }
 }

src/main/java/com/qyft/ms/app/model/bo/Point3D.java

@@ -4,10 +4,13 @@ import lombok.Data;
 
 @Data
 public class Point3D {
-    private double x;
-    private double y;
-    private double z;
+    public double x;
+    public double y;
+    public double z;
 
     public Point3D(double x, double y, double z) {
+        this.x = x;
+        this.y = y;
+        this.z = z;
     }
 }

src/main/java/com/qyft/ms/app/model/bo/SprayTaskPointCollectorPushBO.java

@@ -13,7 +13,7 @@ public class SprayTaskPointCollectorPushBO {
      */
     String cmdCode;
     /**
-     * 当前是第几个玻片 从0开始
+     * 当前喷涂的是第几个玻片 从0开始
      */
     Integer index;
     /**
@@ -21,21 +21,16 @@ public class SprayTaskPointCollectorPushBO {
      */
     Integer number;
     /**
-     * 总喷涂计数
-     */
-    Integer sprayCount;
-    /**
      * 当前点位坐标
      */
     Point2D currentPoint;
 
 
-    public SprayTaskPointCollectorPushBO(String cmdId, String cmdCode, Integer index, Integer number, Integer sprayCount, Point2D currentPoint) {
+    public SprayTaskPointCollectorPushBO(String cmdId, String cmdCode, Integer index, Integer number, Point2D currentPoint) {
         this.cmdId = cmdId;
         this.cmdCode = cmdCode;
         this.index = index;
         this.number = number;
-        this.sprayCount = sprayCount;
         this.currentPoint = currentPoint;
     }
 }

src/main/java/com/qyft/ms/app/model/bo/SprayTimes.java

@@ -32,10 +32,10 @@ public class SprayTimes {
     private Double movingSpeed;
 
     @Schema(description = "田字格喷涂中间延时数，非田字格不传递该参数")
-    private Double gridDelay;
+    private Long gridDelay;
 
     @Schema(description = "本次喷涂结束后延时数")
-    private Double delay;
+    private Long delay;
 
     @Schema(description = "喷涂左上角x")
     private Double x1;

src/main/java/com/qyft/ms/app/service/VirtualDeviceService.java

@@ -14,6 +14,7 @@ import org.springframework.stereotype.Service;
 public class VirtualDeviceService {
     private final DeviceCommandService deviceCommandService;
 
+
     public void completeCommandResponse(DeviceCommand cmdToDevice) {
         new Thread(() -> {
             try {
@@ -55,6 +56,12 @@ public class VirtualDeviceService {
                             data.putOnce("temperature", 60);
                             jsonObject.putOnce("data", data);
                         }
+                    }else if (device.contains("xyz")) {
+                        JSONObject data = new JSONObject();
+                        data.putOnce("xAxisPosition", 20);
+                        data.putOnce("yAxisPosition", 20);
+                        data.putOnce("zAxisPosition", 15);
+                        jsonObject.putOnce("data", data);
                     }
 
                 }

src/main/java/com/qyft/ms/system/core/listener/DeviceTcpMessageEventListener.java

@@ -38,7 +38,6 @@ public class DeviceTcpMessageEventListener {
                 SprayTask.getInstance().clear();
                 deviceStatus.setSpraying(false);
                 deviceStatus.setPaused(false);
-                deviceStatus.setSuspendable(false);
                 deviceStatus.setStopPressed(true);
                 deviceStatus.setSelfTestCompleted(false);
                 deviceCommandService.releaseAllCommandFutures();

src/main/java/com/qyft/ms/system/service/device/DeviceCommandService.java

@@ -75,13 +75,6 @@ public class DeviceCommandService {
 
     public CommandFuture sendCommandSprayTask(String cmdId, String cmdCode, DeviceCommand deviceCommand) throws Exception {
         SprayTask sprayTask = SprayTask.getInstance();
-        synchronized (sprayTask.getPauseLock()) {
-            while (sprayTask.isPaused()) {
-                log.info("喷涂暂停");
-                sprayTask.getPauseLock().wait();
-                log.info("喷涂继续");
-            }
-        }
         synchronized (sprayTask.getCloseLock()) {
             if (sprayTask.isClose() || Thread.currentThread().isInterrupted()) {
                 throw new InterruptedException();