fix:设备异常断电后，托盘状态会被清空

src/main/java/com/iflytop/gd/app/command/control/MoveToHeatAreaCommand.java

@@ -96,7 +96,9 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
 
         return runAsync(() -> {
             try {
+                if(trayState != null){
                     trayState.setHeatModuleId(heatModuleCode);
+                }
                 capModuleService.capUpBalanceNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand());//提升拍子存放区至拍子夹取的高度
                 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D); //将机械臂移动至加液模块上方
                 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayPick);//将夹爪打开，准备夹取托盘
@@ -111,7 +113,9 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
                 gantryModuleService.gantryZMove(heatModuleTrayMoveHeight);//下降z轴,使托盘落入加热模块
                 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayPick);//将夹爪打开，释放托盘
                 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayStatus(1);//加热模块是否存在托盘
+                if(trayState != null){
                     trayState.setInHeatModule(true);
+                }
                 gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
                 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方
 //                deviceCommandTempUtilService.moveTrayHeatModuleAvoidDownNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand(), null);//TODO 结构有问题临时避让 开始，移动托盘之前先降下所有加热模块

src/main/java/com/iflytop/gd/app/command/control/MoveToSolutionAreaCommand.java

@@ -126,7 +126,9 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
                 gantryModuleService.gantryZMove(heatModuleTrayMoveHeight);//下降z轴,使夹爪落入托盘孔位
                 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayGrip);//将夹爪收紧，夹住托盘
                 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayStatus(0);//加热模块是否存在托盘
+                if(trayState != null){
                     trayState.setInHeatModule(false);
+                }
                 deviceCommandTempUtilService.moveTrayHeatModuleAvoidDownNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);//TODO 临时避让下降
                 gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);Thread.sleep(2500);//抬升z轴
 //                gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatArea4TrayClawPoint3D);//将携带托盘的机械臂移动至4号加热模块上方
@@ -134,7 +136,9 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
                 deviceCommandTempUtilService.moveTrayHeatModuleAvoidUp(null, heatModuleCode);//TODO 临时避 恢复抬起状态
                 gantryModuleService.gantryZMove(solutionModuleTrayMoveHeight);//下降z轴,使托盘落入加液模块
                 deviceStateService.getDeviceState().getSolutionModule().setTrayStatus(1);//加液模块是否存在托盘
+                if(trayState != null){
                     trayState.setInSolutionModule(true);
+                }
                 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayPick);//将夹爪打开，释放托盘
                 gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
                 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方