调整自检逻辑

src/main/java/com/iflytop/gd/app/command/selftest/MoveTestCommand.java

@@ -5,12 +5,15 @@ import com.iflytop.gd.app.core.SelfMoveTestGenerator;
 import com.iflytop.gd.app.model.bo.Point3D;
 import com.iflytop.gd.app.model.dto.CmdDTO;
 import com.iflytop.gd.app.service.api.DevicePositionService;
+import com.iflytop.gd.app.service.device.DeviceStateService;
 import com.iflytop.gd.app.service.device.module.CapModuleService;
 import com.iflytop.gd.app.service.device.module.GantryModuleService;
 import com.iflytop.gd.app.service.device.module.SolutionModuleService;
 import com.iflytop.gd.app.ws.server.WebSocketSender;
 import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.enums.data.DevicePositionCode;
+import com.iflytop.gd.common.exception.AppException;
+import com.iflytop.gd.common.result.ResultCode;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -29,42 +32,50 @@ public class MoveTestCommand extends BaseCommandHandler {
     private final SolutionModuleService solutionModuleService;
     private final DevicePositionService devicePositionService;
     private final CapModuleService capModuleService;
-
+    private final DeviceStateService deviceStateService;
     private final WebSocketSender webSocketService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        if (deviceStateService.getCommandMutexState().get().isMoveTest()) {
+            throw new AppException(ResultCode.COMMAND_ALREADY_EXECUTING);
+        }
         Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液模块上方点位
         Double solutionModuleTrayMoveHeight = devicePositionService.getPosition(DevicePositionCode.solutionModuleTrayMoveHeight).getDistance();//加液模块托盘z轴移动高度
 
+        deviceStateService.getCommandMutexState().get().setMoveTest(true);
         return runAsync(() -> {
-            webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "1、各项传感器正常", 15));
-            //移动xy到加液模块
-            gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);
-            //移动z
-            gantryModuleService.gantryZMove(solutionModuleTrayMoveHeight);//下降z轴,使托盘落入加液模块
-            //xyz回0点
-            gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
-            webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "2、z轴电机检测完毕", 30));
-            gantryModuleService.gantryMoveZero();
-            webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "3、xy轴电机检测完毕", 45));
-            //抬起托盘1-6
-            gantryModuleService.allTrayUp(cmdDTO.getCommandId(), cmdDTO.getCommand());
-            gantryModuleService.allTrayDown(cmdDTO.getCommandId(), cmdDTO.getCommand());
-            webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "4、加热模块升降电机检测完毕", 60));
-            //抬升拍子升降
-            capModuleService.capMotorMove(21);
-            webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "5、拍子存放区升降电机检测完毕", 75));
-            //摇匀
-            solutionModuleService.shakeStart(cmdDTO.getCommandId(), cmdDTO.getCommand());
-            Thread.sleep(2000);
-            solutionModuleService.shakeStop(cmdDTO.getCommandId(), cmdDTO.getCommand());
-            solutionModuleService.shakeOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
-            webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "6、摇匀电机检测完毕", 90));
-            //加液机械臂
-            solutionModuleService.dualRobotMovePoint(16);
-            solutionModuleService.dualRobotOrigin();
-            webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "7、加液机械臂检测完毕", 100));
+            try{
+                webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "1、各项传感器正常", 15));
+                //移动xy到加液模块
+                gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);
+                //移动z
+                gantryModuleService.gantryZMove(solutionModuleTrayMoveHeight);//下降z轴,使托盘落入加液模块
+                //xyz回0点
+                gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
+                webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "2、z轴电机检测完毕", 30));
+                gantryModuleService.gantryMoveZero();
+                webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "3、xy轴电机检测完毕", 45));
+                //抬起托盘1-6
+                gantryModuleService.allTrayUp(cmdDTO.getCommandId(), cmdDTO.getCommand());
+                gantryModuleService.allTrayDown(cmdDTO.getCommandId(), cmdDTO.getCommand());
+                webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "4、加热模块升降电机检测完毕", 60));
+                //抬升拍子升降
+                capModuleService.capMotorMove(21);
+                webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "5、拍子存放区升降电机检测完毕", 75));
+                //摇匀
+                solutionModuleService.shakeStart(cmdDTO.getCommandId(), cmdDTO.getCommand());
+                Thread.sleep(2000);
+                solutionModuleService.shakeStop(cmdDTO.getCommandId(), cmdDTO.getCommand());
+                solutionModuleService.shakeOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
+                webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "6、摇匀电机检测完毕", 90));
+                //加液机械臂
+                solutionModuleService.dualRobotMovePoint(16);
+                solutionModuleService.dualRobotOrigin();
+                webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "7、加液机械臂检测完毕", 100));
+            }finally {
+                deviceStateService.getCommandMutexState().get().setMoveTest(false);
+            }
         });
     }
 }

src/main/java/com/iflytop/gd/app/model/bo/status/CommandMutexState.java

@@ -32,4 +32,8 @@ public class CommandMutexState {
     private boolean trayDownCommandExecuting = false;
     private boolean trayLiftingOriginCommandExecuting = false;
     private boolean trayUpCommandExecuting = false;
+
+    private boolean moveTest = false;
+    private boolean trayOut = false;
+
 }