工艺执行完毕移除托盘

src/main/java/com/iflytop/gd/app/core/CraftsContext.java

@@ -94,6 +94,7 @@ public class CraftsContext implements Runnable {
                 }
             }
             if (sm.getState().getId() == CraftStates.RUNNING) {
+                craftsStepService.finish(heatModuleCode);
                 Message<CraftEvents> finishMsg = MessageBuilder.withPayload(CraftEvents.FINISH).build();
                 Mono.from(sm.sendEvent(Mono.just(finishMsg))).block();
             }

src/main/java/com/iflytop/gd/app/service/crafts/CraftsStepService.java

@@ -149,6 +149,13 @@ public class CraftsStepService {
     }
 
     /**
+     * 工艺执行完毕
+     */
+    public void finish(HeatModuleCode heatModuleCode) throws Exception {
+        moveToSolutionModule(heatModuleCode);
+    }
+
+    /**
      * 将托盘移至加热
      */
     private void moveToHeatModule(HeatModuleCode heatModuleCode) throws Exception {
@@ -262,7 +269,7 @@ public class CraftsStepService {
         deviceCommandTempUtilService.moveTrayHeatModuleAvoidUp(null, heatModuleCode);//TODO 临时避 恢复抬起状态
         gantryModuleService.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.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayStatus(1);//加液模块是否存在托盘
+        deviceStateService.getDeviceState().getSolutionModule().setTrayStatus(1);//加液模块是否存在托盘
         gantryModuleService.clawMove(clawTrayPick);//将夹爪打开，释放托盘
         gantryModuleService.gantryZMove(0);//抬升z轴
         gantryModuleService.gantryMove(capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方