From 6b8ad897f6e799aa1bfb3b29674935de1a133a30 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= Date: Wed, 14 May 2025 18:20:59 +0800 Subject: [PATCH] =?UTF-8?q?fix:=E4=BF=AE=E6=94=B9=E4=BA=86=E4=B8=80?= =?UTF-8?q?=E4=BA=9B=E6=B3=A8=E9=87=8A?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../com/iflytop/gd/app/cmd/CapLiftingOriginCommand.java | 2 ++ src/main/java/com/iflytop/gd/app/cmd/DoorCloseCommand.java | 3 ++- src/main/java/com/iflytop/gd/app/cmd/DoorOpenCommand.java | 5 +++-- .../com/iflytop/gd/app/cmd/DualRobotJointOriginCommand.java | 4 +++- .../java/com/iflytop/gd/app/cmd/GantryXOriginCommand.java | 12 ++++++------ src/main/java/com/iflytop/gd/app/cmd/HeatStartCommand.java | 6 ++++-- src/main/java/com/iflytop/gd/app/cmd/HeatStopCommand.java | 5 +++-- .../java/com/iflytop/gd/app/cmd/MoveToHeatAreaCommand.java | 7 ++++--- .../com/iflytop/gd/app/cmd/MoveToSolutionAreaCommand.java | 6 ++++-- .../java/com/iflytop/gd/app/cmd/SolutionAddCommand.java | 13 +++++++------ src/main/java/com/iflytop/gd/app/cmd/TrayDownCommand.java | 7 +++++-- .../com/iflytop/gd/app/cmd/TrayLiftingOriginCommand.java | 4 +++- src/main/java/com/iflytop/gd/app/cmd/TrayUpCommand.java | 9 ++++++--- 13 files changed, 52 insertions(+), 31 deletions(-) diff --git a/src/main/java/com/iflytop/gd/app/cmd/CapLiftingOriginCommand.java b/src/main/java/com/iflytop/gd/app/cmd/CapLiftingOriginCommand.java index 9f1646a..1c0d7e1 100644 --- a/src/main/java/com/iflytop/gd/app/cmd/CapLiftingOriginCommand.java +++ b/src/main/java/com/iflytop/gd/app/cmd/CapLiftingOriginCommand.java @@ -25,7 +25,9 @@ public class CapLiftingOriginCommand extends BaseCommandHandler { @Override public CompletableFuture handle(CmdDTO cmdDTO) { return runAsync(() -> { + //拍子升降回原点 deviceCommandUtilService.trayMotorOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand()); + //将拍子升降是否在原点状态设置为true selfTestService.getSelfTestState().setCapLiftingOrigin(true); }); } diff --git a/src/main/java/com/iflytop/gd/app/cmd/DoorCloseCommand.java b/src/main/java/com/iflytop/gd/app/cmd/DoorCloseCommand.java index 4e9af7e..4b5bb53 100644 --- a/src/main/java/com/iflytop/gd/app/cmd/DoorCloseCommand.java +++ b/src/main/java/com/iflytop/gd/app/cmd/DoorCloseCommand.java @@ -28,9 +28,10 @@ public class DoorCloseCommand extends BaseCommandHandler { @Override public CompletableFuture handle(CmdDTO cmdDTO) { return runAsync(() -> { + //门电机回原点 deviceCommandUtilService.doorOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand()); + //将门状态设置为false deviceStateService.setDoorStatus(false); - //TODO 关门口判断加液模块是否有托盘 }); } } diff --git a/src/main/java/com/iflytop/gd/app/cmd/DoorOpenCommand.java b/src/main/java/com/iflytop/gd/app/cmd/DoorOpenCommand.java index 3c540c3..bfadfc1 100644 --- a/src/main/java/com/iflytop/gd/app/cmd/DoorOpenCommand.java +++ b/src/main/java/com/iflytop/gd/app/cmd/DoorOpenCommand.java @@ -25,14 +25,15 @@ public class DoorOpenCommand extends BaseCommandHandler { private final DeviceCommandUtilService deviceCommandUtilService; private final DevicePositionService devicePositionService; private final DeviceStateService deviceStateService; - private final GantryArmService gantryArmService; @Override public CompletableFuture handle(CmdDTO cmdDTO) { return runAsync(() -> { - gantryArmService.setLiquidIdleTrue();//释放加液区等待 + //从数据库获取开门距离 Double doorOpenDistance = devicePositionService.getPosition(DevicePositionCode.doorOpen).getDistance(); + //门电机移动开门距离 deviceCommandUtilService.doorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), doorOpenDistance); + //将门状态设置为true deviceStateService.setDoorStatus(true); }); } diff --git a/src/main/java/com/iflytop/gd/app/cmd/DualRobotJointOriginCommand.java b/src/main/java/com/iflytop/gd/app/cmd/DualRobotJointOriginCommand.java index 348a158..a0ff635 100644 --- a/src/main/java/com/iflytop/gd/app/cmd/DualRobotJointOriginCommand.java +++ b/src/main/java/com/iflytop/gd/app/cmd/DualRobotJointOriginCommand.java @@ -15,7 +15,7 @@ import org.springframework.stereotype.Component; import java.util.concurrent.CompletableFuture; /** - * 指定加液机械臂回原点 + * 加液机械臂回原点 */ @Slf4j @Component @@ -27,7 +27,9 @@ public class DualRobotJointOriginCommand extends BaseCommandHandler { @Override public CompletableFuture handle(CmdDTO cmdDTO) { return runAsync(() -> { + //加液臂电机使能 liquidDistributionArmDriver.liquidDistributionArmEnable(LiquidArmMId.LiquidDistributionArm, 1); + //将加液臂移动至0位 liquidDistributionArmDriver.liquidDistributionArmMoveTo(LiquidArmMId.LiquidDistributionArm, 0); }); } diff --git a/src/main/java/com/iflytop/gd/app/cmd/GantryXOriginCommand.java b/src/main/java/com/iflytop/gd/app/cmd/GantryXOriginCommand.java index 6695af8..66ffa30 100644 --- a/src/main/java/com/iflytop/gd/app/cmd/GantryXOriginCommand.java +++ b/src/main/java/com/iflytop/gd/app/cmd/GantryXOriginCommand.java @@ -25,21 +25,21 @@ public class GantryXOriginCommand extends BaseCommandHandler { @Override public CompletableFuture handle(CmdDTO cmdDTO) { return runAsync(() -> { - Boolean x = cmdDTO.getBooleanParam("x"); - Boolean y = cmdDTO.getBooleanParam("y"); - Boolean z = cmdDTO.getBooleanParam("z"); + Boolean x = cmdDTO.getBooleanParam("x");//x轴是否回原点 + Boolean y = cmdDTO.getBooleanParam("y");//y轴是否回原点 + Boolean z = cmdDTO.getBooleanParam("z");//z轴是否回原点 if (x != null && x) { deviceCommandUtilService.gantryXMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand()); - selfTestService.getSelfTestState().setGantryXOrigin(true); + selfTestService.getSelfTestState().setGantryXOrigin(true);//设置是否在原点状态 } if (y != null && y) { deviceCommandUtilService.gantryYMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand()); - selfTestService.getSelfTestState().setGantryYOrigin(true); + selfTestService.getSelfTestState().setGantryYOrigin(true);//设置是否在原点状态 } if (z != null && z) { deviceCommandUtilService.gantryZMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand()); - selfTestService.getSelfTestState().setGantryZOrigin(true); + selfTestService.getSelfTestState().setGantryZOrigin(true);//设置是否在原点状态 } }); } diff --git a/src/main/java/com/iflytop/gd/app/cmd/HeatStartCommand.java b/src/main/java/com/iflytop/gd/app/cmd/HeatStartCommand.java index 5851cfe..922a637 100644 --- a/src/main/java/com/iflytop/gd/app/cmd/HeatStartCommand.java +++ b/src/main/java/com/iflytop/gd/app/cmd/HeatStartCommand.java @@ -25,12 +25,14 @@ public class HeatStartCommand extends BaseCommandHandler { @Override public CompletableFuture handle(CmdDTO cmdDTO) { - String heatId = cmdDTO.getStringParam("heatId"); + String heatId = cmdDTO.getStringParam("heatId");//获取加热区ID HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId); return runAsync(() -> { + //从系统状态中获取指定加热区设定的温度数值 double temperature = deviceStateService.getHeatModuleState(heatModuleId).getTemperature(); + //开启加热 deviceCommandUtilService.heatRodOpen(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, temperature); - deviceStateService.setHeatModuleStateHeating(heatModuleId, true); + deviceStateService.setHeatModuleStateHeating(heatModuleId, true);//设置状态加热中 }); } } diff --git a/src/main/java/com/iflytop/gd/app/cmd/HeatStopCommand.java b/src/main/java/com/iflytop/gd/app/cmd/HeatStopCommand.java index 7d5202d..58a26bc 100644 --- a/src/main/java/com/iflytop/gd/app/cmd/HeatStopCommand.java +++ b/src/main/java/com/iflytop/gd/app/cmd/HeatStopCommand.java @@ -25,11 +25,12 @@ public class HeatStopCommand extends BaseCommandHandler { @Override public CompletableFuture handle(CmdDTO cmdDTO) { - String heatId = cmdDTO.getStringParam("heatId"); + String heatId = cmdDTO.getStringParam("heatId");//获取加热区ID HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId); return runAsync(() -> { + //关闭加热 deviceCommandUtilService.heatRodClose(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId); - deviceStateService.setHeatModuleStateHeating(heatModuleId, false); + deviceStateService.setHeatModuleStateHeating(heatModuleId, false);//设置状态停止加热 }); } } diff --git a/src/main/java/com/iflytop/gd/app/cmd/MoveToHeatAreaCommand.java b/src/main/java/com/iflytop/gd/app/cmd/MoveToHeatAreaCommand.java index 4a98492..ba5ae20 100644 --- a/src/main/java/com/iflytop/gd/app/cmd/MoveToHeatAreaCommand.java +++ b/src/main/java/com/iflytop/gd/app/cmd/MoveToHeatAreaCommand.java @@ -49,13 +49,13 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler { deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -traySafetyHeight);//机械臂提升至移动托盘的安全高度 deviceStateService.setSolutionModuleStateTrayStatus(0); Point3D heatAreaTrayClawPoint3D = deviceCommandUtilService.getHeatAreaTrayClawPoint3D(heatModuleId);//获取指定托盘上方点位 - Point3D heatAreaTrayClawSafetyHeightPoint3D = new Point3D(heatAreaTrayClawPoint3D.getX(), heatAreaTrayClawPoint3D.getY(), heatAreaTrayClawPoint3D.getZ() - traySafetyHeight);//加热区托盘点位上方减去移动托盘的安全高度 + Point3D heatAreaTrayClawSafetyHeightPoint3D = new Point3D(heatAreaTrayClawPoint3D.getX(), + heatAreaTrayClawPoint3D.getY(), heatAreaTrayClawPoint3D.getZ() - traySafetyHeight);//加热区托盘点位上方减去移动托盘的安全高度 deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaTrayClawSafetyHeightPoint3D);//将携带托盘的机械臂移动至托盘上方 deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), traySafetyHeight);//下降机械臂将托盘与试管落入加热区 deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -clawDescend);//将机械臂提升至托盘上方高度 Point3D capStorageCapClawPoint3D = devicePositionService.getPosition(DevicePositionCode.capStorageCapClawPoint).getPoint3D();//获取拍子存放区上方点位; deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方 - //下降机械臂使夹爪可以夹住拍子 double clawCapPick = devicePositionService.getPosition(DevicePositionCode.clawCapPick).getDistance(); //拍子夹取距离 deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪张开 deviceCommandUtilService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawDescend); //下降机械臂使夹爪可以夹住拍子 @@ -65,7 +65,8 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler { deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -capSafetyHeight);//机械臂提升至移动拍子的安全高度 deviceCommandUtilService.capUpBalance(cmdDTO.getCommandId(), cmdDTO.getCommand()); //提升拍子存放区 Point3D heatAreaCapClawPoint3D = deviceCommandUtilService.getHeatAreaCapClawPointPoint3D(heatModuleId);//获取托盘上方拍子点位 - Point3D heatAreaCapClawSafetyHeightPoint3D = new Point3D(heatAreaCapClawPoint3D.getX(), heatAreaCapClawPoint3D.getY(), heatAreaCapClawPoint3D.getZ() - capSafetyHeight);//加热区拍子上方加上移动拍子的安全高度 + Point3D heatAreaCapClawSafetyHeightPoint3D = new Point3D(heatAreaCapClawPoint3D.getX(), heatAreaCapClawPoint3D.getY(), + heatAreaCapClawPoint3D.getZ() - capSafetyHeight);//加热区拍子上方加上移动拍子的安全高度 deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaCapClawSafetyHeightPoint3D);//将机械臂移动至拍子上方加上移动拍子的安全高度 deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), traySafetyHeight); //降下机械臂使拍子盖住托盘试管 trayState.setHeatModuleId(heatModuleId); diff --git a/src/main/java/com/iflytop/gd/app/cmd/MoveToSolutionAreaCommand.java b/src/main/java/com/iflytop/gd/app/cmd/MoveToSolutionAreaCommand.java index 7607f7c..f777acc 100644 --- a/src/main/java/com/iflytop/gd/app/cmd/MoveToSolutionAreaCommand.java +++ b/src/main/java/com/iflytop/gd/app/cmd/MoveToSolutionAreaCommand.java @@ -56,7 +56,8 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler { deviceStateService.setHeatModuleStateCapExist(heatModuleId, false); deviceCommandUtilService.capMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), -1); //下降拍子存放区1个位置 Point3D capStorageCapClawPoint3D = devicePositionService.getPosition(DevicePositionCode.capStorageCapClawPoint).getPoint3D();//获取拍子存放区上方点位; - Point3D capStorageCapClawSafetyHeightPoint3D = new Point3D(capStorageCapClawPoint3D.getX(), capStorageCapClawPoint3D.getY(), capStorageCapClawPoint3D.getZ() - capSafetyHeight);//拍子存放区上方加上移动拍子的安全高度 + Point3D capStorageCapClawSafetyHeightPoint3D = new Point3D(capStorageCapClawPoint3D.getX(), capStorageCapClawPoint3D.getY(), + capStorageCapClawPoint3D.getZ() - capSafetyHeight);//拍子存放区上方加上移动拍子的安全高度 deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawSafetyHeightPoint3D);//移动机械臂至拍子存放区上方上减去拍子的安全高度 deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), capSafetyHeight);//下降机械臂，使拍子落入存放区 deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick); //松开夹爪，放开拍子 @@ -73,7 +74,8 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler { deviceStateService.setHeatModuleStateTrayStatus(heatModuleId, 0); trayState.setInHeatModule(false); Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液区托盘夹爪点 - Point3D liquidAreaTraySafetyHeightPoint3D = new Point3D(liquidAreaTrayPoint3D.getX(), liquidAreaTrayPoint3D.getY(), liquidAreaTrayPoint3D.getZ() - traySafetyHeight);//加液区托盘点位上方加上移动托盘的安全高度 + Point3D liquidAreaTraySafetyHeightPoint3D = new Point3D(liquidAreaTrayPoint3D.getX(), liquidAreaTrayPoint3D.getY(), + liquidAreaTrayPoint3D.getZ() - traySafetyHeight);//加液区托盘点位上方加上移动托盘的安全高度 deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTraySafetyHeightPoint3D);//移动机械臂至加液区托盘点位上方减去移动托盘的安全高度 deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), traySafetyHeight);//下降机械臂将托盘与试管落入加液区 deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayPick);//松开夹爪，放下托盘 diff --git a/src/main/java/com/iflytop/gd/app/cmd/SolutionAddCommand.java b/src/main/java/com/iflytop/gd/app/cmd/SolutionAddCommand.java index 35a6c40..c9e1e80 100644 --- a/src/main/java/com/iflytop/gd/app/cmd/SolutionAddCommand.java +++ b/src/main/java/com/iflytop/gd/app/cmd/SolutionAddCommand.java @@ -34,20 +34,21 @@ public class SolutionAddCommand extends BaseCommandHandler { deviceStateService.setSolutionModuleStatePumping(true); return runAsync(() -> { JSONArray dataList = (JSONArray) cmdDTO.getParams().get("dataList"); - for (int i = 0; i < dataList.size(); i++) { + for (int i = 0; i < dataList.size(); i++) {//遍历前端传入的加液配置 JSONObject tubeSol = dataList.getJSONObject(i); - Integer tubeNum = tubeSol.getInt("tubeNum"); + Integer tubeNum = tubeSol.getInt("tubeNum");//获取试管编号 JSONArray solutionList = tubeSol.getJSONArray("solutionList"); - for (int j = 0; j < solutionList.size(); j++) { + for (int j = 0; j < solutionList.size(); j++) {//遍历该试管应该加哪种液 JSONObject addSolution = solutionList.getJSONObject(j); Long solId = addSolution.getLong("solId"); Double volume = addSolution.getDouble("volume"); - AcidPumpDeviceCode acidPumpDevice = containerService.getPumpBySolutionId(solId); + AcidPumpDeviceCode acidPumpDevice = containerService.getPumpBySolutionId(solId);//获取溶液对应的泵 if (acidPumpDevice == null) { - throw new AppException(ResultCode.CRAFT_CONTAINER_NOT_FOUND); + throw new AppException(ResultCode.CRAFT_CONTAINER_NOT_FOUND);//工艺未找到对应溶液容器 } deviceCommandUtilService.dualRobotMovePoint(tubeNum);//移动加液机械臂到指定试管点位 - deviceCommandUtilService.acidPumpMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), acidPumpDevice, volume);//添加溶液 + deviceCommandUtilService.acidPumpMoveBy(cmdDTO.getCommandId(), + cmdDTO.getCommand(), acidPumpDevice, volume);//添加溶液 } } deviceCommandUtilService.dualRobotOrigin(); diff --git a/src/main/java/com/iflytop/gd/app/cmd/TrayDownCommand.java b/src/main/java/com/iflytop/gd/app/cmd/TrayDownCommand.java index 63fbc83..142e6e6 100644 --- a/src/main/java/com/iflytop/gd/app/cmd/TrayDownCommand.java +++ b/src/main/java/com/iflytop/gd/app/cmd/TrayDownCommand.java @@ -29,8 +29,11 @@ public class TrayDownCommand extends BaseCommandHandler { String heatId = cmdDTO.getStringParam("heatId"); HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId); return runAsync(() -> { - double trayLower = devicePositionService.getPosition(DevicePositionCode.trayLower).getDistance(); //获取加热位下降托盘位置 - deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLower);//下降加热位托盘 + //从数据库获取加热位下降托盘位置 + double trayLower = devicePositionService.getPosition(DevicePositionCode.trayLower).getDistance(); + //下降加热位托盘 + deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLower); + //TODO 设置相应加热区托盘状态 }); } } diff --git a/src/main/java/com/iflytop/gd/app/cmd/TrayLiftingOriginCommand.java b/src/main/java/com/iflytop/gd/app/cmd/TrayLiftingOriginCommand.java index cb30e9c..3ad5fc3 100644 --- a/src/main/java/com/iflytop/gd/app/cmd/TrayLiftingOriginCommand.java +++ b/src/main/java/com/iflytop/gd/app/cmd/TrayLiftingOriginCommand.java @@ -25,10 +25,12 @@ public class TrayLiftingOriginCommand extends BaseCommandHandler { @Override public CompletableFuture handle(CmdDTO cmdDTO) { - String heatId = cmdDTO.getStringParam("heatId"); + String heatId = cmdDTO.getStringParam("heatId");//获取加热区ID HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId); return runAsync(() -> { + //加热模块升降电机回原点 deviceCommandUtilService.heaterMotorMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId); + //设置对应的加热区是否在原点状态 switch (heatModuleId) { case heat_module_01 -> selfTestService.getSelfTestState().setTrayLifting01Origin(true); case heat_module_02 -> selfTestService.getSelfTestState().setTrayLifting02Origin(true); diff --git a/src/main/java/com/iflytop/gd/app/cmd/TrayUpCommand.java b/src/main/java/com/iflytop/gd/app/cmd/TrayUpCommand.java index b4cf22b..099b8a8 100644 --- a/src/main/java/com/iflytop/gd/app/cmd/TrayUpCommand.java +++ b/src/main/java/com/iflytop/gd/app/cmd/TrayUpCommand.java @@ -26,11 +26,14 @@ public class TrayUpCommand extends BaseCommandHandler { @Override public CompletableFuture handle(CmdDTO cmdDTO) { - String heatId = cmdDTO.getStringParam("heatId"); + String heatId = cmdDTO.getStringParam("heatId");//获取加热区ID HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId); return runAsync(() -> { - double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //获取加热位抬升托盘位置 - deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLift);//抬升加热位托盘 + //获取加热位抬升托盘位置 + double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); + //抬升加热位托盘 + deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLift); + //TODO 设置相应加热区托盘状态 }); } }