fix:

1、设备开机后不再自动加热、关闭所有真空阀门
2、工艺降温的时候停止加热，正确赋予状态
3、工艺移动拍子不再下降托盘，但是5号位置要从2号位绕行一下

src/main/java/com/iflytop/gd/app/service/crafts/CraftsStepService.java

@@ -223,7 +223,9 @@ public class CraftsStepService {
 
         if (temperature > targetTemperature) {
             log.info("工艺{},开启风扇降温中", heatModuleCode);
-
+            if (HeatingType.constant.equals(heatModuleState.getHeatingType())) {
+                heatModuleService.heatRodClose(heatModuleCode);
+            }
             heatModuleService.fanStart(heatModuleCode);
             heatModuleState.setHeatingType(HeatingType.cooling);
             heatModuleState.setFanOpen(true);
@@ -241,6 +243,7 @@ public class CraftsStepService {
             heatModuleState.setFanOpen(false);
             log.info("工艺{},开始加热至目标温度", heatModuleCode);
             heatModuleService.heatRodOpen(heatModuleCode, targetTemperature);
+            heatModuleState.setHeatingType(HeatingType.constant);
             heatModuleState.setStartHeatTime(LocalDateTime.now());
         } else {
             if (heatModuleState.isFanOpen()) {

src/main/java/com/iflytop/gd/app/service/device/ActionCommandService.java

@@ -99,10 +99,10 @@ public class ActionCommandService {
         deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setCapExist(false);//加热模块是否存在拍子
         capModuleService.capMotorMoveByNumNoWait(commandId, command, -1);//拍子存放模块下降1个拍子位置
         gantryModuleService.gantryZMoveZero(commandId, command);//抬升z轴
-        heatModuleService.heaterMotorMoveNoWait(commandId, command, heatModuleCode, trayLower);//下降加热模块
-        Thread.sleep(2500);
+//        heatModuleService.heaterMotorMoveNoWait(commandId, command, heatModuleCode, trayLower);//下降加热模块
+//        Thread.sleep(2500);
         deviceCommandTempUtilService.carryMoveXYToSolutionManyPoints(commandId, command, heatModuleCode, ClawItemType.cap);//携带拍子移动至存放区
-        deviceCommandTempUtilService.moveTrayHeatModuleAvoidUpNoWait(commandId, command, heatModuleCode);//移动完毕恢复抬升状态
+        deviceCommandTempUtilService.moveTrayHeatModuleAvoidUpNoWait(commandId, command, null);//移动完毕恢复抬升状态
         gantryModuleService.gantryZMove(capModuleCapMoveHeight);//下降z轴,使夹拍子落入存放区
         gantryModuleService.clawMove(commandId, command, clawCapPick);//将夹爪打开，释放夹取的拍子
         gantryModuleService.gantryZMoveZero(commandId, command);//抬升z轴
@@ -123,19 +123,18 @@ public class ActionCommandService {
         double capModuleCapMoveHeight = devicePositionService.getPosition(DevicePositionCode.capModuleCapMoveHeight).getDistance();//拍子升降模块拍子z轴移动高度
         Point3D capStorageCapClawPoint3D = devicePositionService.getPosition(DevicePositionCode.capStorageCapClawPoint).getPoint3D();//获取拍子存放区上方点位;
 
-        heatModuleService.heaterMotorMoveNoWait(commandId, command, heatModuleCode, trayLower);//确保目标加热模块是下降状态
+//        heatModuleService.heaterMotorMoveNoWait(commandId, command, heatModuleCode, trayLower);//确保目标加热模块是下降状态
 
         gantryModuleService.gantryXYMove(commandId, command, capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方
-        deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(0);//将加热模块托盘状态改为下降
+//        deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(0);//将加热模块托盘状态改为下降
         gantryModuleService.clawMove(commandId, command, clawCapPick);//将夹爪打开，准备夹取拍子
         gantryModuleService.gantryZMove(capModuleCapMoveHeight);//下降z轴,使夹爪落入拍子升降模块拍子孔位
         gantryModuleService.clawMove(commandId, command, clawCapGrip);//将夹爪收紧，夹住拍子
         gantryModuleService.gantryZMoveZero(commandId, command);//抬升z轴
         deviceCommandTempUtilService.carryMoveXYToHeatManyPoints(commandId, command, heatModuleCode, ClawItemType.cap);//将拍子移动至目标加热模块上方
-        capModuleService.capUpBalanceNoWait(commandId, command); //提升拍子存放区
+//        capModuleService.capUpBalanceNoWait(commandId, command); //提升拍子存放区
 
-        deviceCommandTempUtilService.moveTrayHeatModuleAvoidUpNoWait(commandId, command, heatModuleCode);
-        Thread.sleep(3700);
+        deviceCommandTempUtilService.moveTrayHeatModuleAvoidUpNoWait(commandId, command, null);
 
         gantryModuleService.gantryZMove(heatModuleCapMoveHeight);//下降z轴,使夹拍子落入加热模块
         gantryModuleService.clawMove(commandId, command, clawCapPick);//将夹爪打开，释放拍子

src/main/java/com/iflytop/gd/app/service/device/DeviceCommandTempUtilService.java

@@ -5,7 +5,6 @@ import com.iflytop.gd.app.model.bo.status.device.HeatModuleState;
 import com.iflytop.gd.app.service.api.DevicePositionService;
 import com.iflytop.gd.app.service.device.module.GantryModuleService;
 import com.iflytop.gd.app.service.device.module.HeatModuleService;
-import com.iflytop.gd.app.service.device.module.SolutionModuleService;
 import com.iflytop.gd.common.command.CommandFuture;
 import com.iflytop.gd.common.command.DeviceCommandBundle;
 import com.iflytop.gd.common.command.DeviceCommandGenerator;
@@ -56,6 +55,7 @@ public class DeviceCommandTempUtilService {
         Point3D heatArea3TrayClawPoint3D = heatModuleService.getHeatAreaTrayClawPoint3D(HeatModuleCode.heat_module_03);
         Point3D heatArea4TrayClawPoint3D = heatModuleService.getHeatAreaTrayClawPoint3D(HeatModuleCode.heat_module_04);
 
+        Point3D heatArea2CapClawPoint3D = heatModuleService.getHeatAreaCapClawPointPoint3D(HeatModuleCode.heat_module_02);
         Point3D heatArea3CapClawPoint3D = heatModuleService.getHeatAreaCapClawPointPoint3D(HeatModuleCode.heat_module_03);
 
         Point3D[] points = new Point3D[]{};
@@ -148,7 +148,7 @@ public class DeviceCommandTempUtilService {
         } else if (HeatModuleCode.heat_module_05.equals(targetHeatModuleCode)) {
             if (ClawItemType.cap.equals(clawItemType)) {//移动拍子
                 //路线 存放区
-                points = new Point3D[]{capStorageCapClawPoint3D};
+                points = new Point3D[]{heatArea2CapClawPoint3D, capStorageCapClawPoint3D};
                 //不避让的模块
                 moveTrayHeatModuleAvoidDown(commandId, command, null,
                         HeatModuleCode.heat_module_03,
@@ -175,14 +175,14 @@ public class DeviceCommandTempUtilService {
                         HeatModuleCode.heat_module_05,
                         HeatModuleCode.heat_module_06);
             } else if (ClawItemType.tray.equals(clawItemType)) {//移动托盘
-                if(deviceStateService.getDeviceState().getHeatModuleByCode(HeatModuleCode.heat_module_05).getTrayStatus() == 1){
+                if (deviceStateService.getDeviceState().getHeatModuleByCode(HeatModuleCode.heat_module_05).getTrayStatus() == 1) {
                     //路线 3、1、4、加液
                     points = new Point3D[]{heatArea3TrayClawPoint3D, heatArea1TrayClawPoint3D, heatArea4TrayClawPoint3D, liquidAreaTrayPoint3D};
                     //不避让的模块
                     moveTrayHeatModuleAvoidDown(commandId, command, null,
                             HeatModuleCode.heat_module_05,
                             HeatModuleCode.heat_module_06);
-                }else{
+                } else {
                     //路线 加液
                     points = new Point3D[]{liquidAreaTrayPoint3D};
                     //不避让的模块
@@ -313,11 +313,12 @@ public class DeviceCommandTempUtilService {
             }
         } else if (HeatModuleCode.heat_module_05.equals(targetHeatModuleCode)) {
             if (ClawItemType.cap.equals(clawItemType)) {//移动拍子
-                //路线 5
-                points = new Point3D[]{heatArea5CapClawPoint3D};
+                //路线 2、5
+                points = new Point3D[]{heatArea2CapClawPoint3D, heatArea5CapClawPoint3D};
                 //不避让的模块
                 moveTrayHeatModuleAvoidDown(commandId, command, null,
                         HeatModuleCode.heat_module_03,
+                        HeatModuleCode.heat_module_04,
                         HeatModuleCode.heat_module_05,
                         HeatModuleCode.heat_module_06);
             } else if (ClawItemType.tray.equals(clawItemType)) {//移动托盘
@@ -341,15 +342,15 @@ public class DeviceCommandTempUtilService {
                         HeatModuleCode.heat_module_05,
                         HeatModuleCode.heat_module_06);
             } else if (ClawItemType.tray.equals(clawItemType)) {//移动托盘
-                if(deviceStateService.getDeviceState().getHeatModuleByCode(HeatModuleCode.heat_module_05).getTrayStatus() == 1
-                || deviceStateService.getDeviceState().getHeatModuleByCode(HeatModuleCode.heat_module_05).getTrayUp() == 1){
+                if (deviceStateService.getDeviceState().getHeatModuleByCode(HeatModuleCode.heat_module_05).getTrayStatus() == 1
+                        || deviceStateService.getDeviceState().getHeatModuleByCode(HeatModuleCode.heat_module_05).getTrayUp() == 1) {
                     //路线 4、1、3、6
                     points = new Point3D[]{heatArea4TrayClawPoint3D, heatArea1TrayClawPoint3D, heatArea3TrayClawPoint3D, heatArea6TrayClawPoint3D};
                     //不避让的模块
                     moveTrayHeatModuleAvoidDown(commandId, command, null,
                             HeatModuleCode.heat_module_05,
                             HeatModuleCode.heat_module_06);
-                }else{
+                } else {
                     //路线 6
                     points = new Point3D[]{heatArea6TrayClawPoint3D};
                     //不避让的模块

src/main/java/com/iflytop/gd/app/service/device/DeviceInitService.java

@@ -1,6 +1,5 @@
 package com.iflytop.gd.app.service.device;
 
-import ch.qos.logback.core.joran.conditional.ThenAction;
 import cn.hutool.json.JSONUtil;
 import com.iflytop.gd.app.model.bo.DeviceInitializationData;
 import com.iflytop.gd.app.model.bo.status.device.DeviceState;
@@ -10,6 +9,7 @@ import com.iflytop.gd.app.model.entity.Container;
 import com.iflytop.gd.app.model.entity.DeviceParamConfig;
 import com.iflytop.gd.app.service.api.ContainerService;
 import com.iflytop.gd.app.service.api.DeviceParamConfigService;
+import com.iflytop.gd.app.service.device.module.HeatModuleService;
 import com.iflytop.gd.common.enums.ContainerCode;
 import com.iflytop.gd.common.enums.ContainerType;
 import com.iflytop.gd.common.enums.HeatModuleCode;
@@ -60,6 +60,7 @@ public class DeviceInitService {
     private final ObjectProvider<HeatModuleState> heatModuleStateProvider;
     private final ObjectProvider<SolutionContainerState> solutionContainerStateProvider;
     private final AppEventBusService eventBus;
+    private final HeatModuleService heatModuleService;
     private boolean isLink = false;
 
     @PostConstruct
@@ -79,6 +80,7 @@ public class DeviceInitService {
                 initDeviceSetData();
                 initOvertime();
                 initEnable();
+                initOther();
                 try {
                     tricolorLightDriver.open(MId.TriColorLight, TricolorLightDriver.Color.GREEN);
                 } catch (HardwareException e) {
@@ -150,7 +152,7 @@ public class DeviceInitService {
     }
 
     public void initDeviceSetData() throws Exception {
-        while (!isLink){
+        while (!isLink) {
             Thread.sleep(100);
         }
         if (deviceStateService.getDeviceState().isVirtual() || deviceStateService.getDeviceState().isInitComplete()) {
@@ -199,4 +201,25 @@ public class DeviceInitService {
         }
         log.info("初始化 initDeviceState完毕");
     }
+
+    public void initOther() {
+        log.info("初始化 initOther");
+        for (HeatModuleCode heatModuleCode : HeatModuleCode.values()) {
+            CompletableFuture.runAsync(() -> {
+                try {
+                    heatModuleService.heatRodClose(heatModuleCode);
+                } catch (Exception e) {
+                    log.info("初始化 initOther 关闭加热错误:{}", heatModuleCode);
+                }
+            });
+            CompletableFuture.runAsync(() -> {
+                try {
+                    heatModuleService.vacuumValveClose(heatModuleCode);
+                } catch (Exception e) {
+                    log.info("初始化 initOther 关闭真空泵阀门错误:{}", heatModuleCode);
+                }
+            });
+        }
+        log.info("初始化initOther完毕");
+    }
 }