修复拍子升降错误

src/main/java/com/iflytop/gd/app/command/control/MoveToHeatAreaCommand.java

@@ -69,10 +69,10 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
         //校验目标加热位是否有托盘
         try {
             deviceStateService.getCommandMutexState().get().setMoveToHeatAreaCommandExecuting(true);
-//            Boolean heatModuleTray = heatModuleService.heatModuleSensorState(heatModuleCode);
-//            if (heatModuleTray) {
+            Boolean heatModuleTray = heatModuleService.heatModuleSensorState(heatModuleCode);
+            if (heatModuleTray) {
 //                throw new AppException(ResultCode.TARGET_HEAT_MODULE_OCCUPIED);
-//            }
+            }
         } catch (Exception e) {
             deviceStateService.getCommandMutexState().get().setMoveToHeatAreaCommandExecuting(false);
             throw e;
@@ -80,37 +80,38 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
         return runAsync(() -> {
             try {
 //                TrayState trayState = deviceStateService.getTrayInSolutionModule();
-                capModuleService.capUpBalanceNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand());//提升拍子存放区至拍子夹取的高度
                 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D); //将机械臂移动至加液模块上方
                 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayPick);//将夹爪打开，准备夹取托盘
                 gantryModuleService.gantryZMove(solutionModuleTrayMoveHeight);//下降z轴,使夹爪落入托盘孔位
                 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayGrip);//将夹爪收紧，夹住托盘
                 gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
                 deviceStateService.getDeviceState().getSolutionModule().setTrayStatus(0);//加液模块是否有托盘
-//                deviceCommandTempUtilService.moveTrayHeatModuleAvoidDown(cmdDTO.getCommandId(), cmdDTO.getCommand(), null);//TODO 结构有问题临时避让 开始，移动托盘之前先降下所有加热模块
+                deviceCommandTempUtilService.moveTrayHeatModuleAvoidDown(cmdDTO.getCommandId(), cmdDTO.getCommand(), null);//TODO 结构有问题临时避让 开始，移动托盘之前先降下所有加热模块
                 gantryModuleService.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
                 gantryModuleService.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
-                deviceCommandTempUtilService.moveTrayHeatModuleAvoidUpNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);Thread.sleep(3200);//TODO 结构有问题临时避让 完毕，可以升起了，顺带提升目标加热模块
+//                deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLift);//抬升加热位托盘 TODO 结构有问题临时避让 屏蔽
+                deviceCommandTempUtilService.moveTrayHeatModuleAvoidUp(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);//TODO 结构有问题临时避让 完毕，可以升起了，顺带提升目标加热模块
                 gantryModuleService.gantryZMove(heatModuleTrayMoveHeight);//下降z轴,使托盘落入加热模块
                 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayPick);//将夹爪打开，释放托盘
                 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayStatus(1);//加热模块是否存在托盘
                 gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
+
+                capModuleService.capUpBalance(cmdDTO.getCommandId(), cmdDTO.getCommand());//提升拍子存放区至拍子夹取的高度
                 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方
                 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪打开，准备夹取拍子
                 gantryModuleService.gantryZMove(capModuleCapMoveHeight);//下降z轴,使夹爪落入拍子升降模块拍子孔位
                 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapGrip);//将夹爪收紧，夹住拍子
                 gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
                 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaCapClawPointPoint3D);//将携带拍子的机械臂移动至加热模块拍子上方
-                capModuleService.capUpBalanceNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand()); //提升拍子存放区
                 gantryModuleService.gantryZMove(heatModuleCapMoveHeight);//下降z轴,使夹拍子落入加热模块
                 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪打开，释放拍子
                 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setCapExist(true);//加热模块是否存在拍子
                 gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
 //                trayState.setHeatModuleId(heatModuleId);
 //                trayState.setInHeatModule(true);
-//                heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, trayLower);//下降加热模块托盘
-//                deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(0);//加热模块托盘升降状态
+                heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, trayLower);//下降加热模块托盘
+                deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(0);//加热模块托盘升降状态
+                capModuleService.capUpBalance(cmdDTO.getCommandId(), cmdDTO.getCommand()); //提升拍子存放区
                 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方
             } finally {
                 deviceStateService.getDeviceState().getGantryArm().setIdle(true);

src/main/java/com/iflytop/gd/app/command/control/MoveToSolutionAreaCommand.java

@@ -47,9 +47,6 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
                 || deviceStateService.getCommandMutexState().get().isShakeStartCommandExecuting()) {
             throw new AppException(ResultCode.CMD_BUSY);
         }
-        if (!deviceStateService.getDeviceState().getSolutionModule().isIdle()) {
-            throw new AppException(ResultCode.SOLUTION_MODULE_OCCUPIED);
-        }
         String heatId = cmdDTO.getStringParam("heatId");
         HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId);
         double clawCapPick = devicePositionService.getPosition(DevicePositionCode.clawCapPick).getDistance(); //获取拍子夹取距离
@@ -72,10 +69,10 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
         //校验目标加热位是否有托盘
         try {
             deviceStateService.getCommandMutexState().get().setMoveToSolutionAreaCommandExecuting(true);
-//            Boolean heatModuleTray = heatModuleService.heatModuleSensorState(heatModuleCode);
-//            if (!heatModuleTray) {
+            Boolean heatModuleTray = heatModuleService.heatModuleSensorState(heatModuleCode);
+            if (!heatModuleTray) {
 //                throw new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY);
-//            }
+            }
         } catch (Exception e) {
             deviceStateService.getCommandMutexState().get().setMoveToSolutionAreaCommandExecuting(false);
             throw e;
@@ -84,15 +81,15 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
             try {
 //                TrayState trayState = deviceStateService.getTrayInSolutionModule();
                 solutionModuleService.requestSolutionModule(cmdDTO.getCommandId(), cmdDTO.getCommand());//申请使用加液区并等待
-                capModuleService.capUpBalanceNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand()); //提升拍子存放区至拍子夹取的高度
+                capModuleService.capUpBalance(cmdDTO.getCommandId(), cmdDTO.getCommand()); //提升拍子存放区至拍子夹取的高度
                 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaCapClawPointPoint3D);//将机械臂移动至加热模块拍子上方
                 heatModuleService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode, trayLift);//抬升指定加热位托盘
                 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪打开，准备夹取拍子
                 gantryModuleService.gantryZMove(heatModuleCapMoveHeight);//下降z轴,使夹爪落入加热模块拍子孔位
                 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapGrip);//将夹爪收紧，夹住拍子
                 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setCapExist(false);//加热模块是否存在拍子
-                capModuleService.capMotorMoveByNumNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand(), -1);//拍子存放模块下降1个拍子位置
-                gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0); Thread.sleep(2000);//抬升z轴
+                gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);//抬升z轴
+                capModuleService.capMotorMoveByNum(-1);//拍子存放模块下降1个拍子位置
                 gantryModuleService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawPoint3D);//将携带拍子的机械臂移动至存放区上方
                 gantryModuleService.gantryZMove(capModuleCapMoveHeight);//下降z轴,使夹拍子落入存放区
                 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪打开，释放夹取的拍子
@@ -105,13 +102,13 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
                 gantryModuleService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayGrip);//将夹爪收紧，夹住托盘
                 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayStatus(0);//加热模块是否存在托盘
 //                trayState.setInHeatModule(false);//托盘是否在加热模块中
-                deviceCommandTempUtilService.moveTrayHeatModuleAvoidDownNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);//TODO 临时避让下降
-                gantryModuleService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 0);Thread.sleep(2500);//抬升z轴
+                gantryModuleService.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
+                deviceCommandTempUtilService.moveTrayHeatModuleAvoidDown(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleCode);//TODO 临时避让下降
                 gantryModuleService.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
                 gantryModuleService.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.moveTrayHeatModuleAvoidUpNoWait(cmdDTO.getCommandId(), cmdDTO.getCommand(), null, heatModuleCode);//TODO 临时避 恢复抬起状态
+                deviceCommandTempUtilService.moveTrayHeatModuleAvoidUp(cmdDTO.getCommandId(), cmdDTO.getCommand(), null);//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().getSolutionModule().setTrayStatus(1);//加液模块是否存在托盘

src/main/java/com/iflytop/gd/app/controller/TestController.java

@@ -1,20 +1,15 @@
 package com.iflytop.gd.app.controller;
 
-import com.iflytop.gd.app.model.bo.status.CommandMutexState;
 import com.iflytop.gd.app.model.dto.AllSensorDTO;
+import com.iflytop.gd.app.service.api.HeatService;
 import com.iflytop.gd.app.service.api.TestService;
-import com.iflytop.gd.app.service.device.DeviceEmergencyStopService;
-import com.iflytop.gd.app.service.device.DeviceStateService;
 import com.iflytop.gd.app.service.device.module.CapModuleService;
-import com.iflytop.gd.app.service.device.module.OtherModuleService;
-import com.iflytop.gd.common.enums.HeatModuleCode;
 import com.iflytop.gd.common.result.Result;
 import com.iflytop.gd.hardware.exception.HardwareException;
 import io.swagger.v3.oas.annotations.Operation;
 import io.swagger.v3.oas.annotations.tags.Tag;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.springframework.web.bind.annotation.GetMapping;
 import org.springframework.web.bind.annotation.PostMapping;
 import org.springframework.web.bind.annotation.RequestMapping;
 import org.springframework.web.bind.annotation.RestController;
@@ -32,27 +27,9 @@ import java.util.List;
 public class TestController {
     private final TestService testService;
     private final CapModuleService capModuleService;
-    private final DeviceStateService deviceStateService;
-    private final OtherModuleService otherModuleService;
-    private final DeviceEmergencyStopService deviceEmergencyStopService;
-
-    @Operation(summary = "启动虚拟模式")
-    @PostMapping("/virtual")
-    public Result<?> changeVirtualMode() {
-        deviceStateService.getDeviceState().setVirtual(true);
-        deviceStateService.getDeviceState().setInitComplete(true);
-        return Result.success();
-    }
-
-    @Operation(summary = "模拟向硬件写入完毕")
-    @PostMapping("/initComplete")
-    public Result<?> setInitComplete(Boolean initComplete) {
-        deviceStateService.getDeviceState().setInitComplete(initComplete);
-        return Result.success();
-    }
 
     @Operation(summary = "获取所有传感器读数")
-    @GetMapping("/all-sensor")
+    @PostMapping("/all-sensor")
     public Result<List<AllSensorDTO>> getAllSensor() throws HardwareException {
         return Result.success(testService.getAllSensor());
     }
@@ -72,44 +49,4 @@ public class TestController {
         return Result.success();
     }
 
-    @Operation(summary = "获取指令互斥状态")
-    @GetMapping("/mutex-state")
-    public Result<CommandMutexState> getCommandMutexState() throws HardwareException {
-        return Result.success(deviceStateService.getCommandMutexState().get());
-    }
-
-    @Operation(summary = "重置状态")
-    @PostMapping("/reset")
-    public Result<?> reset() throws Exception {
-        testService.reset();
-        return Result.success();
-    }
-
-    @Operation(summary = "触发急停")
-    @PostMapping("/press-emergency-stop")
-    public Result<?> pressEmergencyStop() throws Exception {
-        deviceEmergencyStopService.press();
-        return Result.success();
-    }
-
-    @Operation(summary = "解除急停")
-    @PostMapping("/release-emergency-stop")
-    public Result<?> releaseEmergencyStop() throws Exception {
-        deviceEmergencyStopService.release();
-        return Result.success();
-    }
-
-    @Operation(summary = "工艺执行完毕蜂鸣器提醒")
-    @PostMapping("/crafts-finish-beep-remind")
-    public Result<?> craftsFinishBeepRemind() throws Exception {
-        otherModuleService.craftsFinishBeepRemind();
-        return Result.success();
-    }
-
-    @Operation(summary = "设置当前温度")
-    @PostMapping("/set-temperature")
-    public Result<?> setTemperature(HeatModuleCode code, Double temperature) throws Exception {
-        testService.setTemperature(code, temperature);
-        return Result.success();
-    }
 }

src/main/java/com/iflytop/gd/app/service/api/TestService.java

@@ -1,8 +1,6 @@
 package com.iflytop.gd.app.service.api;
 
 import com.iflytop.gd.app.model.dto.AllSensorDTO;
-import com.iflytop.gd.app.service.device.DeviceStateService;
-import com.iflytop.gd.common.enums.HeatModuleCode;
 import com.iflytop.gd.hardware.exception.HardwareException;
 import com.iflytop.gd.hardware.service.GDDeviceStatusService;
 import com.iflytop.gd.hardware.type.IO.InputIOMId;
@@ -19,7 +17,6 @@ import java.util.List;
 @RequiredArgsConstructor
 public class TestService {
     private final GDDeviceStatusService gdDeviceStatusService;
-    private final DeviceStateService deviceStateService;
 
     public List<AllSensorDTO> getAllSensor() throws HardwareException {
         List<AllSensorDTO> allSensorDTOList = new ArrayList<>();
@@ -41,13 +38,4 @@ public class TestService {
         return allSensorDTOList;
     }
 
-    public void reset(){
-        deviceStateService.getCommandMutexState().get().reset();
-        deviceStateService.getDeviceState().reset();
-    }
-
-    public void setTemperature(HeatModuleCode code, Double temperature){
-        deviceStateService.getDeviceState().getHeatModuleByCode(code).setTemperature(temperature);
-    }
-
 }

src/main/java/com/iflytop/gd/app/service/device/module/CapModuleService.java

@@ -30,72 +30,11 @@ public class CapModuleService {
     /**
      * 将拍子升降区抬升至可以获取的位置
      */
-    public void capUpBalanceNoWait() throws Exception {
-        capUpBalanceNoWait(null, null);
-    }
-
-    /**
-     * 将拍子升降区抬升至可以获取的位置
-     */
     public void capUpBalance() throws Exception {
         capUpBalance(null, null);
     }
 
     /**
-     * 将拍子升降区抬升至可以获取的位置 不等待
-     */
-    public void capUpBalanceNoWait(String commandId, String command) throws Exception {
-        Boolean capExist01 = gdDeviceStatusService.getInputState(InputIOMId.CAP01_EXIST);
-        Boolean capExist02 = gdDeviceStatusService.getInputState(InputIOMId.CAP02_EXIST);
-        Boolean capExist03 = gdDeviceStatusService.getInputState(InputIOMId.CAP03_EXIST);
-        Boolean capExist04 = gdDeviceStatusService.getInputState(InputIOMId.CAP04_EXIST);
-        Boolean capExist05 = gdDeviceStatusService.getInputState(InputIOMId.CAP05_EXIST);
-        Boolean capExist06 = gdDeviceStatusService.getInputState(InputIOMId.CAP06_EXIST);
-        //如果传感器读数存在null，则视为异常
-        if (capExist01 == null || capExist02 == null || capExist03 == null || capExist04 == null || capExist05 == null || capExist06 == null) {
-            log.error("拍子存放区获取传感器状态异常");
-            throw new AppException(ResultCode.SENSOR_STATUS_FAILED);
-        }
-        //先统计拍子个数
-        int capNum = 0;
-        if (capExist01) {
-            return;
-        }
-        if (capExist02) {
-            capNum++;
-        }
-        if (capExist03) {
-            capNum++;
-        }
-        if (capExist04) {
-            capNum++;
-            if (capExist02 && !capExist03) {
-                throw new AppException(ResultCode.SENSOR_STATUS_FAILED);
-            }
-        }
-        if (capExist05) {
-            capNum++;
-            if (capExist03 && !capExist04) {
-                throw new AppException(ResultCode.SENSOR_STATUS_FAILED);
-            }
-        }
-        if (capExist06) {
-            capNum++;
-            if (capExist04 && !capExist05) {
-                throw new AppException(ResultCode.SENSOR_STATUS_FAILED);
-            }
-        }
-        if (capNum == 0) {
-            return;
-        }
-        double capLiftingHeight = devicePositionService.getPosition(DevicePositionCode.capLiftingHeight).getDistance();//每个拍子高度
-        double capLiftingHeightSum = (6 - capNum) * capLiftingHeight + 21;
-        //先留一个空位置，不要完全抬升，防止有传感器坏了的情况，使用第二个传感器做校验
-        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.capMotorMove(capLiftingHeightSum);
-        deviceCommandService.sendCommand(commandId, command, deviceCommand);
-    }
-
-    /**
      * 将拍子升降区抬升至可以获取的位置
      */
     public void capUpBalance(String commandId, String command) throws Exception {
@@ -176,15 +115,6 @@ public class CapModuleService {
      *
      * @param num 1为上升1格，-1为下降1格
      */
-    public void capMotorMoveByNumNoWait(int num) throws Exception {
-        capMotorMoveByNumNoWait(null, null, num);
-    }
-
-    /**
-     * 调整拍子升降电机位置
-     *
-     * @param num 1为上升1格，-1为下降1格
-     */
     public void capMotorMoveByNum(int num) throws Exception {
         capMotorMoveByNum(null, null, num);
     }
@@ -194,22 +124,6 @@ public class CapModuleService {
      *
      * @param num 1为上升1格，-1为下降1格
      */
-    public void capMotorMoveByNumNoWait(String commandId, String command, int num) throws Exception {
-        double capLiftingHeight = devicePositionService.getPosition(DevicePositionCode.capLiftingHeight).getDistance();
-        Double capPosition = gdDeviceStatusService.getStepMotorPostion(StepMotorMId.TRAY_MOTOR_MID);
-        double toCapPosition = capPosition + (num * capLiftingHeight);
-        if (toCapPosition < 0) {
-            throw new AppException(ResultCode.CAP_LIFT_ERROR);
-        }
-        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.capMotorMove(toCapPosition);
-        deviceCommandService.sendCommand(commandId, command, deviceCommand);
-    }
-
-    /**
-     * 调整拍子升降电机位置
-     *
-     * @param num 1为上升1格，-1为下降1格
-     */
     public void capMotorMoveByNum(String commandId, String command, int num) throws Exception {
         double capLiftingHeight = devicePositionService.getPosition(DevicePositionCode.capLiftingHeight).getDistance();
         Double capPosition = gdDeviceStatusService.getStepMotorPostion(StepMotorMId.TRAY_MOTOR_MID);

src/main/java/com/iflytop/gd/common/result/ResultCode.java

@@ -57,6 +57,7 @@ public enum ResultCode implements IResultCode, Serializable {
     CAP_LIFT_ERROR("6024", "拍子升降错误"),
     CMD_BUSY("6025", "设备忙，请稍后"),
     HEAT_MODULE_NO_IDLE("6026", "加热模块无空闲"),
+    CAP_MODULE_NO_CAP("6027", "拍子存放区未检测到拍子"),
     ;
     /** 状态码 */
     private final String code;