现场代码同步

src/main/java/com/iflytop/gd/app/cmd/MoveToHeatAreaCommand.java

@@ -41,6 +41,7 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
         if (isExecuting.get()) {
             throw new AppException(ResultCode.COMMAND_ALREADY_EXECUTING);
         }
+        deviceStateService.setGantryArmStateIdle(true);
         isExecuting.set(true);
         String heatId = cmdDTO.getStringParam("heatId");
         HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
@@ -51,6 +52,7 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
                 throw new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY);
             }
         }finally {
+            deviceStateService.setGantryArmStateIdle(false);
             isExecuting.set(false);
         }
         return runAsync(() -> {
@@ -98,6 +100,7 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
                 deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLower);//下降加热位托盘
                 deviceStateService.setHeatModuleStateTrayStatus(heatModuleId, 1);
             } finally {
+                deviceStateService.setGantryArmStateIdle(false);
                 isExecuting.set(false);
             }
         });

src/main/java/com/iflytop/gd/app/cmd/MoveToSolutionAreaCommand.java

@@ -40,6 +40,7 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
         if (isExecuting.get()) {
             throw new AppException(ResultCode.COMMAND_ALREADY_EXECUTING);
         }
+        deviceStateService.setGantryArmStateIdle(true);
         isExecuting.set(true);
         String heatId = cmdDTO.getStringParam("heatId");
         HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
@@ -50,6 +51,7 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
                 throw new AppException(ResultCode.TARGET_HEAT_MODULE_OCCUPIED);
             }
         }finally {
+            deviceStateService.setGantryArmStateIdle(false);
             isExecuting.set(false);
         }
         return runAsync(() -> {
@@ -100,6 +102,7 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
                 trayState.setInSolutionModule(true);
                 deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -clawDescend);//抬升机械臂至托盘上方
             }finally {
+                deviceStateService.setGantryArmStateIdle(false);
                 isExecuting.set(false);
             }
         });