From 93647c2bf1f146c2b01a709cfb3cd338b8044b9d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= Date: Wed, 28 May 2025 18:47:50 +0800 Subject: [PATCH] =?UTF-8?q?=E8=B0=83=E6=95=B4=E8=87=AA=E6=A3=80=E9=80=BB?= =?UTF-8?q?=E8=BE=91?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../java/com/iflytop/gd/app/command/selftest/TrayOutCommand.java | 5 +++++ .../com/iflytop/gd/app/service/device/module/DoorModuleService.java | 3 --- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/src/main/java/com/iflytop/gd/app/command/selftest/TrayOutCommand.java b/src/main/java/com/iflytop/gd/app/command/selftest/TrayOutCommand.java index 1f9c140..fb799a5 100644 --- a/src/main/java/com/iflytop/gd/app/command/selftest/TrayOutCommand.java +++ b/src/main/java/com/iflytop/gd/app/command/selftest/TrayOutCommand.java @@ -25,6 +25,7 @@ import java.util.concurrent.CompletableFuture; @RequiredArgsConstructor @CommandMapping("tray_out")//业务指令注解 public class TrayOutCommand extends BaseCommandHandler { + private final DoorModuleService doorModuleService; private final HeatModuleService heatModuleService; private final CapModuleService capModuleService; private final SolutionModuleService solutionModuleService; @@ -57,6 +58,10 @@ public class TrayOutCommand extends BaseCommandHandler { return runAsync(() -> { try { + if(!deviceStateService.getDeviceState().getDoor().isOpen()){ + doorModuleService.doorOpen(); + deviceStateService.getDeviceState().getDoor().setOpen(true); + } // TrayState trayState = deviceStateService.getTrayInSolutionModule(); solutionModuleService.requestSolutionModule(cmdDTO.getCommandId(), cmdDTO.getCommand());//申请使用加液区并等待 capModuleService.capUpBalance(cmdDTO.getCommandId(), cmdDTO.getCommand()); //提升拍子存放区至拍子夹取的高度 diff --git a/src/main/java/com/iflytop/gd/app/service/device/module/DoorModuleService.java b/src/main/java/com/iflytop/gd/app/service/device/module/DoorModuleService.java index d827eab..c61964c 100644 --- a/src/main/java/com/iflytop/gd/app/service/device/module/DoorModuleService.java +++ b/src/main/java/com/iflytop/gd/app/service/device/module/DoorModuleService.java @@ -21,7 +21,6 @@ import org.springframework.stereotype.Service; public class DoorModuleService { private final DeviceCommandService deviceCommandService; private final DevicePositionService devicePositionService; - private final DeviceStateService deviceStateService; /** * 开门 @@ -38,7 +37,6 @@ public class DoorModuleService { //从数据库获取开门距离 Double doorOpenDistance = devicePositionService.getPosition(DevicePositionCode.doorOpen).getDistance(); doorMove(commandId, command, doorOpenDistance); - deviceStateService.getDeviceState().getDoor().setOpen(true); } /** @@ -53,7 +51,6 @@ public class DoorModuleService { */ public void doorClose(String commandId, String command) throws Exception { doorMove(commandId, command, 0); - deviceStateService.getDeviceState().getDoor().setOpen(true); } /**