调整自检逻辑

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

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);
     }
 
     /**