现场代码同步

src/main/java/com/iflytop/gd/GraphiteDigesterServiceApplication.java

@@ -2,6 +2,7 @@ package com.iflytop.gd;
 
 import org.springframework.boot.SpringApplication;
 import org.springframework.boot.autoconfigure.SpringBootApplication;
+import org.springframework.context.ApplicationContextInitializer;
 import org.springframework.context.ConfigurableApplicationContext;
 import org.springframework.core.env.ConfigurableEnvironment;
 import org.springframework.scheduling.annotation.EnableScheduling;
@@ -11,12 +12,20 @@ import org.springframework.scheduling.annotation.EnableScheduling;
 public class GraphiteDigesterServiceApplication {
 
     public static void main(String[] args) {
-        ConfigurableApplicationContext ctx = SpringApplication.run(GraphiteDigesterServiceApplication.class, args);
+        SpringApplication app = new SpringApplication(GraphiteDigesterServiceApplication.class);
+        app.addInitializers(ctx -> {
+            try {
+                Thread.sleep(5_000);
+            } catch (InterruptedException e) {
+                Thread.currentThread().interrupt();
+            }
+        });
+
+        ConfigurableApplicationContext ctx = app.run(args);
         ConfigurableEnvironment env = ctx.getEnvironment();
         String port = env.getProperty("local.server.port", env.getProperty("server.port", "8080"));
         System.out.println("应用已启动");
         System.out.println("访问地址 → http://localhost:" + port + "/");
         System.out.println("文档地址 → http://localhost:" + port + "/doc.html");
-        //测试git账户
     }
 }

src/main/java/com/iflytop/gd/app/cmd/DoorCloseCommand.java

@@ -3,10 +3,8 @@ package com.iflytop.gd.app.cmd;
 import com.iflytop.gd.app.core.BaseCommandHandler;
 import com.iflytop.gd.app.model.dto.CmdDTO;
 import com.iflytop.gd.app.service.DeviceCommandUtilService;
-import com.iflytop.gd.app.service.DevicePositionService;
 import com.iflytop.gd.app.service.DeviceStateService;
 import com.iflytop.gd.common.annotation.CommandMapping;
-import com.iflytop.gd.common.enums.data.DevicePositionCode;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -29,7 +27,7 @@ public class DoorCloseCommand extends BaseCommandHandler {
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
             //门电机回原点
-            deviceCommandUtilService.doorOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
+            deviceCommandUtilService.doorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);
             //将门状态设置为false
             deviceStateService.setDoorStatus(false);
         });

src/main/java/com/iflytop/gd/app/cmd/FilledSolutionStartCommand.java

@@ -5,8 +5,11 @@ import com.iflytop.gd.app.core.BaseCommandHandler;
 import com.iflytop.gd.app.model.dto.CmdDTO;
 import com.iflytop.gd.app.service.ContainerService;
 import com.iflytop.gd.app.service.DeviceCommandUtilService;
+import com.iflytop.gd.app.service.DeviceStateService;
 import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.enums.AcidPumpDeviceCode;
+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;
@@ -23,9 +26,16 @@ import java.util.concurrent.CompletableFuture;
 public class FilledSolutionStartCommand extends BaseCommandHandler {
     private final DeviceCommandUtilService deviceCommandUtilService;
     private final ContainerService containerService;
+    private final DeviceStateService deviceStateService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        if (deviceStateService.getCommandState().get().isMoveToHeatAreaCommandExecuting()
+                || deviceStateService.getCommandState().get().isMoveToSolutionAreaCommandExecuting()
+                || deviceStateService.getCommandState().get().isSolutionAddCommandExecuting()
+                || deviceStateService.getCommandState().get().isShakeStartCommandExecuting()) {
+            throw new AppException(ResultCode.CMD_BUSY);
+        }
         return runAsync(() -> {
             JSONArray idJsonArray = cmdDTO.getJSONArrayParam("list");
             for (int i = 0; i < idJsonArray.size(); i++) {

src/main/java/com/iflytop/gd/app/cmd/MoveToHeatAreaCommand.java

@@ -4,10 +4,7 @@ import com.iflytop.gd.app.core.BaseCommandHandler;
 import com.iflytop.gd.app.core.device.TrayState;
 import com.iflytop.gd.app.model.bo.Point3D;
 import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.app.service.DeviceCommandUtilService;
-import com.iflytop.gd.app.service.DevicePositionService;
-import com.iflytop.gd.app.service.DeviceStateService;
-import com.iflytop.gd.app.service.GantryArmService;
+import com.iflytop.gd.app.service.*;
 import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.enums.HeatModuleCode;
 import com.iflytop.gd.common.enums.data.DevicePositionCode;
@@ -31,13 +28,16 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
     private final DevicePositionService devicePositionService;
     private final GantryArmService gantryArmService;
     private final DeviceStateService deviceStateService;
+    private final DeviceCommandTempUtilService deviceCommandTempUtilService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
         if (deviceStateService.getCommandState().get().isMoveToHeatAreaCommandExecuting()) {
             throw new AppException(ResultCode.COMMAND_ALREADY_EXECUTING);
         }
-        if (deviceStateService.getCommandState().get().isMoveToSolutionAreaCommandExecuting()) {
+        if (deviceStateService.getCommandState().get().isMoveToSolutionAreaCommandExecuting()
+                || deviceStateService.getCommandState().get().isSolutionAddCommandExecuting()
+                || deviceStateService.getCommandState().get().isShakeStartCommandExecuting()) {
             throw new AppException(ResultCode.CMD_BUSY);
         }
         String heatId = cmdDTO.getStringParam("heatId");
@@ -62,10 +62,10 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
         //校验目标加热位是否有托盘
         try {
             deviceStateService.getCommandState().get().setMoveToHeatAreaCommandExecuting(true);
-//            Boolean heatModuleTray = deviceCommandUtilService.heatModuleSensorState(heatModuleId);
-//            if (heatModuleTray) {
-//                throw new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY);
-//            }
+            Boolean heatModuleTray = deviceCommandUtilService.heatModuleSensorState(heatModuleId);
+            if (heatModuleTray) {
+                throw new AppException(ResultCode.TARGET_HEAT_MODULE_OCCUPIED);
+            }
         } catch (Exception e) {
             deviceStateService.getCommandState().get().setMoveToHeatAreaCommandExecuting(false);
             throw e;
@@ -79,15 +79,17 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
                 deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayGrip);//将夹爪收紧，夹住托盘
                 deviceCommandUtilService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
                 deviceStateService.setSolutionModuleStateTrayStatus(0);//加液模块是否有托盘
+                deviceCommandTempUtilService.moveTrayHeatModuleAvoidDown(cmdDTO.getCommandId(), cmdDTO.getCommand(), null);//TODO 避让 开始，移动托盘之前先降下所有加热模块
                 deviceCommandUtilService.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
                 deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaTrayClawPoint3D);//将携带托盘的机械臂移动至加热模块上方
-                deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLift);//抬升加热位托盘
+//                deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLift);//抬升加热位托盘 TODO 结构有问题临时屏蔽
+                deviceCommandTempUtilService.moveTrayHeatModuleAvoidUp(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId);//TODO 避让 完毕，可以升起了，顺带提升目标加热模块
                 deviceCommandUtilService.gantryZMove(heatModuleTrayMoveHeight);//下降z轴,使托盘落入加热模块
                 deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayPick);//将夹爪打开，释放托盘
                 deviceStateService.setHeatModuleStateTrayStatus(heatModuleId, 1);//加热模块是否存在托盘
                 deviceCommandUtilService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
 
-//                deviceCommandUtilService.capUpBalance(cmdDTO.getCommandId(), cmdDTO.getCommand());//提升拍子存放区至拍子夹取的高度
+                deviceCommandUtilService.capUpBalance(cmdDTO.getCommandId(), cmdDTO.getCommand());//提升拍子存放区至拍子夹取的高度
                 deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方
                 deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪打开，准备夹取拍子
                 deviceCommandUtilService.gantryZMove(capModuleCapMoveHeight);//下降z轴,使夹爪落入拍子升降模块拍子孔位
@@ -103,7 +105,7 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
                 gantryArmService.setLiquidIdleTrue();//释放加液区等待
                 deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLower);//下降加热模块托盘
                 deviceStateService.setHeatModuleStateTrayUp(heatModuleId, 0);//加热模块托盘升降状态
-//                deviceCommandUtilService.capUpBalance(cmdDTO.getCommandId(), cmdDTO.getCommand()); //提升拍子存放区
+                deviceCommandUtilService.capUpBalance(cmdDTO.getCommandId(), cmdDTO.getCommand()); //提升拍子存放区
                 deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方
 
 //                deviceCommandUtilService.capUpBalance(cmdDTO.getCommandId(), cmdDTO.getCommand());//提升拍子存放区至拍子夹取的高度

src/main/java/com/iflytop/gd/app/cmd/MoveToSolutionAreaCommand.java

@@ -4,6 +4,7 @@ import com.iflytop.gd.app.core.BaseCommandHandler;
 import com.iflytop.gd.app.core.device.TrayState;
 import com.iflytop.gd.app.model.bo.Point3D;
 import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.DeviceCommandTempUtilService;
 import com.iflytop.gd.app.service.DeviceCommandUtilService;
 import com.iflytop.gd.app.service.DevicePositionService;
 import com.iflytop.gd.app.service.DeviceStateService;
@@ -29,13 +30,16 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
     private final DeviceCommandUtilService deviceCommandUtilService;
     private final DevicePositionService devicePositionService;
     private final DeviceStateService deviceStateService;
+    private final DeviceCommandTempUtilService deviceCommandTempUtilService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
         if (deviceStateService.getCommandState().get().isMoveToSolutionAreaCommandExecuting()) {
             throw new AppException(ResultCode.COMMAND_ALREADY_EXECUTING);
         }
-        if (deviceStateService.getCommandState().get().isMoveToHeatAreaCommandExecuting()) {
+        if (deviceStateService.getCommandState().get().isMoveToHeatAreaCommandExecuting()
+                || deviceStateService.getCommandState().get().isSolutionAddCommandExecuting()
+                || deviceStateService.getCommandState().get().isShakeStartCommandExecuting()) {
             throw new AppException(ResultCode.CMD_BUSY);
         }
         String heatId = cmdDTO.getStringParam("heatId");
@@ -60,10 +64,10 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
         //校验目标加热位是否有托盘
         try {
             deviceStateService.getCommandState().get().setMoveToSolutionAreaCommandExecuting(true);
-//            Boolean heatModuleTray = deviceCommandUtilService.heatModuleSensorState(heatModuleId);
-//            if (!heatModuleTray) {
-//                throw new AppException(ResultCode.TARGET_HEAT_MODULE_OCCUPIED);
-//            }
+            Boolean heatModuleTray = deviceCommandUtilService.heatModuleSensorState(heatModuleId);
+            if (!heatModuleTray) {
+                throw new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY);
+            }
         } catch (Exception e) {
             deviceStateService.getCommandState().get().setMoveToSolutionAreaCommandExecuting(false);
             throw e;
@@ -74,7 +78,7 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
 //                gantryArmService.waitLiquidIdle();//等待加液区空闲
 //                gantryArmService.setLiquidIdleFalse();//锁定加液区
 
-//                deviceCommandUtilService.capUpBalance(cmdDTO.getCommandId(), cmdDTO.getCommand()); //提升拍子存放区至拍子夹取的高度
+                deviceCommandUtilService.capUpBalance(cmdDTO.getCommandId(), cmdDTO.getCommand()); //提升拍子存放区至拍子夹取的高度
                 deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaCapClawPointPoint3D);//将机械臂移动至加热模块拍子上方
                 deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLift);//抬升指定加热位托盘
                 deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪打开，准备夹取拍子
@@ -82,7 +86,7 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
                 deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapGrip);//将夹爪收紧，夹住拍子
                 deviceStateService.setHeatModuleStateCapExist(heatModuleId, false);//加热模块是否存在拍子
                 deviceCommandUtilService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
-//                deviceCommandUtilService.capMotorMoveByNum(-1);//拍子存放模块下降1个拍子位置
+                deviceCommandUtilService.capMotorMoveByNum(-1);//拍子存放模块下降1个拍子位置
                 deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawPoint3D);//将携带拍子的机械臂移动至存放区上方
                 deviceCommandUtilService.gantryZMove(capModuleCapMoveHeight);//下降z轴,使夹拍子落入存放区
                 deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪打开，释放夹取的拍子
@@ -96,10 +100,12 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
                 deviceStateService.setHeatModuleStateTrayStatus(heatModuleId, 0);//加热模块是否存在托盘
 //                trayState.setInHeatModule(false);//托盘是否在加热模块中
                 deviceCommandUtilService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
-                deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLower);//下降加热模块托盘
-                deviceStateService.setHeatModuleStateTrayUp(heatModuleId, 0);//加热模块托盘升降状态
+//                deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLower);//下降加热模块托盘
+//                deviceStateService.setHeatModuleStateTrayUp(heatModuleId, 0);//加热模块托盘升降状态
+                deviceCommandTempUtilService.moveTrayHeatModuleAvoidDown(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId);//TODO 临时避让下降
                 deviceCommandUtilService.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
                 deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D); //将携带托盘的机械臂移动至加液模块上方
+                deviceCommandTempUtilService.moveTrayHeatModuleAvoidDown(cmdDTO.getCommandId(), cmdDTO.getCommand(), null);//TODO 临时避 恢复抬起状态
                 deviceCommandUtilService.gantryZMove(solutionModuleTrayMoveHeight);//下降z轴,使托盘落入加液模块
 //                trayState.setInSolutionModule(true);//托盘是否在加液模块中
                 deviceStateService.setSolutionModuleStateTrayStatus(1);//加液模块是否存在托盘

src/main/java/com/iflytop/gd/app/cmd/ShakeStartCommand.java

@@ -27,10 +27,13 @@ public class ShakeStartCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         if (deviceStateService.getCommandState().get().isMoveToHeatAreaCommandExecuting()
-                || deviceStateService.getCommandState().get().isMoveToSolutionAreaCommandExecuting()) {
+                || deviceStateService.getCommandState().get().isMoveToSolutionAreaCommandExecuting()
+                || deviceStateService.getCommandState().get().isSolutionAddCommandExecuting()
+                || deviceStateService.getCommandState().get().isShakeStartCommandExecuting()) {
             throw new AppException(ResultCode.CMD_BUSY);
         }
         return runAsync(() -> {
+            deviceStateService.getCommandState().get().setShakeStartCommandExecuting(true);
             deviceCommandUtilService.shakeStart(cmdDTO.getCommandId(), cmdDTO.getCommand());//开始摇匀
             deviceStateService.setSolutionModuleStateShaking(true);
         });

src/main/java/com/iflytop/gd/app/cmd/ShakeStopCommand.java

@@ -27,13 +27,10 @@ public class ShakeStopCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            if (deviceStateService.getCommandState().get().isMoveToHeatAreaCommandExecuting()
-                    || deviceStateService.getCommandState().get().isMoveToSolutionAreaCommandExecuting()) {
-                throw new AppException(ResultCode.CMD_BUSY);
-            }
             deviceCommandUtilService.shakeStop(cmdDTO.getCommandId(), cmdDTO.getCommand());//停止摇匀
             deviceCommandUtilService.shakeOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());//摇匀回原点
             deviceStateService.setSolutionModuleStateShaking(false);
+            deviceStateService.getCommandState().get().setShakeStartCommandExecuting(false);
         });
     }
 }

src/main/java/com/iflytop/gd/app/cmd/SolutionAddCommand.java

@@ -34,6 +34,13 @@ public class SolutionAddCommand extends BaseCommandHandler {
     //TODO 添加溶液UI重新设计
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        if (deviceStateService.getCommandState().get().isMoveToHeatAreaCommandExecuting()
+                || deviceStateService.getCommandState().get().isMoveToSolutionAreaCommandExecuting()
+                || deviceStateService.getCommandState().get().isSolutionAddCommandExecuting()
+                || deviceStateService.getCommandState().get().isShakeStartCommandExecuting()) {
+            throw new AppException(ResultCode.CMD_BUSY);
+        }
+        deviceStateService.getCommandState().get().setSolutionAddCommandExecuting(true);
         deviceStateService.setSolutionModuleStatePumping(true);
         return runAsync(() -> {
             JSONArray dataList = JSONUtil.parseArray(cmdDTO.getParams().get("dataList"));
@@ -60,6 +67,7 @@ public class SolutionAddCommand extends BaseCommandHandler {
                 }
             }
             deviceCommandUtilService.dualRobotOrigin();
+            deviceStateService.getCommandState().get().setSolutionAddCommandExecuting(false);
             deviceStateService.setSolutionModuleStatePumping(false);
         });
     }

src/main/java/com/iflytop/gd/app/cmd/debug/DebugTransportationArmMoveCommand.java

@@ -40,7 +40,7 @@ public class DebugTransportationArmMoveCommand extends BaseCommandHandler {
             Double yDimVelocity = cmdDTO.getDoubleParam("yDimVelocity");
             Double zDimVelocity = cmdDTO.getDoubleParam("zDimVelocity");
             Integer times = cmdDTO.getIntegerParam("times");
-
+            times = null;
             List<CommandFuture> futuresList = new ArrayList<>();
             if (xDimVelocity != null) {
                 DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXSet(xDimVelocity);

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

@@ -0,0 +1,106 @@
+package com.iflytop.gd.app.service;
+
+import com.iflytop.gd.app.core.device.HeatModuleState;
+import com.iflytop.gd.common.cmd.CommandFuture;
+import com.iflytop.gd.common.cmd.DeviceCommandBundle;
+import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import com.iflytop.gd.common.enums.HeatModuleCode;
+import com.iflytop.gd.common.enums.data.DevicePositionCode;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.Collections;
+import java.util.List;
+import java.util.concurrent.CompletableFuture;
+import java.util.concurrent.TimeUnit;
+
+/**
+ * 临时方法 以后应该会废弃
+ */
+@Slf4j
+@Service
+@RequiredArgsConstructor
+public class DeviceCommandTempUtilService {
+    private final DeviceCommandService deviceCommandService;
+    private final DevicePositionService devicePositionService;
+
+    private final DeviceStateService deviceStateService;
+
+    private List<HeatModuleCode> moveTrayHeatModuleAvoidUpStateList = Collections.synchronizedList(new ArrayList<>());
+
+    /**
+     * 抬升
+     * 临时移动托盘的时候，加热模块升降避让
+     * 该方法会恢复之前升起的状态
+     */
+    public void moveTrayHeatModuleAvoidUp(String cmdId, String cmdCode, HeatModuleCode targetHeatModuleCode) throws Exception {
+        double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //托盘升降抬升距离
+        List<CommandFuture> futuresList = new ArrayList<>();
+        for (HeatModuleCode heatModuleCode : moveTrayHeatModuleAvoidUpStateList) {
+            DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(heatModuleCode, trayLift);
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+            futuresList.add(deviceCommandFuture);
+        }
+        if(targetHeatModuleCode != null) {
+            DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(targetHeatModuleCode, trayLift);
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+            futuresList.add(deviceCommandFuture);
+        }
+        commandWait(futuresList.toArray(new CommandFuture[0]));
+        for (HeatModuleCode heatModuleCode : moveTrayHeatModuleAvoidUpStateList) {
+            deviceStateService.setHeatModuleStateTrayUp(heatModuleCode, 1);//加热模块托盘升降状态
+        }
+    }
+
+    /**
+     * 下降
+     * 临时移动托盘的时候，加热模块升降避让
+     * 该方法会下降所有升起的加热模块并且记录
+     */
+    public void moveTrayHeatModuleAvoidDown(String cmdId, String cmdCode, HeatModuleCode targetHeatModuleCode) throws Exception {
+        moveTrayHeatModuleAvoidUpStateList.clear();
+        List<HeatModuleState> heatModuleStateList = deviceStateService.getDeviceState().getHeatModule();
+        double trayLower = devicePositionService.getPosition(DevicePositionCode.trayLower).getDistance(); //获取加热位下降托盘位置
+        List<CommandFuture> futuresList = new ArrayList<>();
+        for (HeatModuleState heatModuleState : heatModuleStateList) {
+            if (heatModuleState.getTrayUp() == 1) {
+                HeatModuleCode heatModuleCode = heatModuleState.getModuleCode();
+                DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(heatModuleCode, trayLower);
+                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+                moveTrayHeatModuleAvoidUpStateList.add(heatModuleCode);
+                futuresList.add(deviceCommandFuture);
+            }
+        }
+        if(targetHeatModuleCode != null) {
+            DeviceCommandBundle deviceCommand = getHeaterMotorMoveDeviceCommand(targetHeatModuleCode, trayLower);
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+            futuresList.add(deviceCommandFuture);
+        }
+        commandWait(futuresList.toArray(new CommandFuture[0]));
+        for (HeatModuleCode heatModuleCode : moveTrayHeatModuleAvoidUpStateList) {
+            deviceStateService.setHeatModuleStateTrayUp(heatModuleCode, 0);//加热模块托盘升降状态
+        }
+    }
+
+    public DeviceCommandBundle getHeaterMotorMoveDeviceCommand(HeatModuleCode heatModuleCode, Double position) {
+        return switch (heatModuleCode) {
+            case heat_module_01 -> DeviceCommandGenerator.heaterMotor1Move(position);
+            case heat_module_02 -> DeviceCommandGenerator.heaterMotor2Move(position);
+            case heat_module_03 -> DeviceCommandGenerator.heaterMotor3Move(position);
+            case heat_module_04 -> DeviceCommandGenerator.heaterMotor4Move(position);
+            case heat_module_05 -> DeviceCommandGenerator.heaterMotor5Move(position);
+            case heat_module_06 -> DeviceCommandGenerator.heaterMotor6Move(position);
+        };
+    }
+
+    protected void commandWait(CommandFuture... futures) throws Exception {
+        CompletableFuture<?>[] responseFutures = Arrays.stream(futures)
+                .map(CommandFuture::getResponseFuture)
+                .toArray(CompletableFuture[]::new);
+        CompletableFuture.allOf(responseFutures)
+                .get(120, TimeUnit.SECONDS);
+    }
+}

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

@@ -57,7 +57,7 @@ public class DeviceInitService {
     public void init() {
         new Thread(() -> {
             try {
-                Thread.sleep(2000);
+                Thread.sleep(3000);
                 CompletableFuture.runAsync(() -> {
                     try {
                         tricolorLightDriver.open(MId.TriColorLight, TricolorLightDriver.Color.BLUE);

src/main/java/com/iflytop/gd/app/service/UserService.java

@@ -1,14 +1,11 @@
 package com.iflytop.gd.app.service;
 
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
-import com.iflytop.gd.app.core.device.DeviceState;
 import com.iflytop.gd.app.mapper.UserMapper;
 import com.iflytop.gd.app.model.entity.User;
 import com.iflytop.gd.common.enums.data.Deleted;
 import com.iflytop.gd.common.enums.data.FixedUser;
-import lombok.Getter;
 import lombok.RequiredArgsConstructor;
-import lombok.Setter;
 import org.springframework.stereotype.Service;
 
 import java.util.Arrays;
@@ -27,9 +24,9 @@ public class UserService extends ServiceImpl<UserMapper, User> {
                 .toList();
         for (Long id : ids) {
             User user = this.getById(id);
-            if (user != null && user.getFixedUser() != FixedUser.ENABLE) {
+            if (user != null && user.getFixedUser() != FixedUser.ENABLE && user.getDeleted() != Deleted.ENABLE) {
                 user.setDeleted(Deleted.ENABLE);
-                return this.save(user);
+                return this.updateById(user);
             }
         }
         return true;