预充增加传感器的判断

src/main/java/com/iflytop/sgs/app/cmd/selftest/LiquidPreFillCommand.java

@@ -1,14 +1,17 @@
 package com.iflytop.sgs.app.cmd.selftest;
 
 import com.iflytop.sgs.app.core.BaseCommandHandler;
+import com.iflytop.sgs.app.core.SelfMoveTestGenerator;
 import com.iflytop.sgs.app.model.bo.Point3D;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
 import com.iflytop.sgs.app.service.api.DevicePositionService;
 import com.iflytop.sgs.app.service.api.SystemConfigService;
+import com.iflytop.sgs.app.service.device.DeviceSensorService;
 import com.iflytop.sgs.app.service.device.DeviceStateService;
 import com.iflytop.sgs.app.service.device.module.SolutionModuleService;
 import com.iflytop.sgs.app.service.device.module.TransferModuleService;
 import com.iflytop.sgs.common.annotation.CommandMapping;
+import com.iflytop.sgs.common.enums.DeviceSensorCode;
 import com.iflytop.sgs.common.enums.SolutionCode;
 import com.iflytop.sgs.common.enums.SystemConfigCode;
 import com.iflytop.sgs.common.enums.data.DevicePositionCode;
@@ -33,6 +36,7 @@ public class LiquidPreFillCommand extends BaseCommandHandler {
     private final DevicePositionService devicePositionService;
     private final DeviceStateService deviceStateService;
     private final SystemConfigService systemConfigService;
+    private final DeviceSensorService deviceSensorService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
@@ -42,6 +46,14 @@ public class LiquidPreFillCommand extends BaseCommandHandler {
         deviceStateService.getCommandMutexState().get().setMoveTest(true);
         return runAsync(() -> {
             try {
+                boolean clawTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.CLAW_TRAY_EXIST);
+                if (clawTrayExist) {
+                    throw new AppException(ResultCode.TRANSFER_MODULE_YES_TRAY);//夹爪存在托盘
+                }
+                boolean feedTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);
+                if (feedTrayExist) {
+                    throw new AppException(ResultCode.FEED_AREA_EXIST_TRAY);//上料区存在托盘
+                }
                 Point3D heatArea1TrayClawPoint = devicePositionService.getPosition(DevicePositionCode.heatArea1TrayClawPoint).getPoint3D();//加热位1坐标
                 Double liquidAreaPreFillPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaPreFillPoint).getPositon(); //预充时加液臂下降位置
                 Double preFillDistance = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.pre_fill_distance_when_open_service);//预充距离