fix:增加托盘状态的判断

src/main/java/com/iflytop/sgs/app/cmd/control/MoveToHeatAreaCommand.java

@@ -1,5 +1,6 @@
 package com.iflytop.sgs.app.cmd.control;
 
+import cn.hutool.core.lang.Assert;
 import com.iflytop.sgs.app.core.BaseCommandHandler;
 import com.iflytop.sgs.app.model.bo.Point3D;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
@@ -10,6 +11,8 @@ import com.iflytop.sgs.app.service.device.module.TransferModuleService;
 import com.iflytop.sgs.common.annotation.CommandMapping;
 import com.iflytop.sgs.common.enums.HeatModuleCode;
 import com.iflytop.sgs.common.enums.data.DevicePositionCode;
+import com.iflytop.sgs.common.exception.AppException;
+import com.iflytop.sgs.common.result.ResultCode;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -32,13 +35,12 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
-        if (!deviceStateService.getDeviceState().getTransferModule().isTrayStatus()) { //判断机械臂上是否有托盘
-            //TODO 判断目标加热模块传感器是否有托盘，如果有托盘的话提示错误
-        }
-
         String targetHeatModuleCodeStr = cmdDTO.getStringParam("heatModuleCode");
         HeatModuleCode targetHeatModuleCode = HeatModuleCode.valueOf(targetHeatModuleCodeStr);//目标加热模块
+        if (!deviceStateService.getDeviceState().getTransferModule().isTrayStatus()) { //判断机械臂上是否有托盘
+            Assert.isTrue(!deviceStateService.getDeviceState().getHeatModuleByCode(targetHeatModuleCode).isTrayStatus(), () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//目标加热区有托盘
 
+        }
         Point3D targetHeatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(targetHeatModuleCode);//获取目标加热模块托盘夹取点
         Double transferModuleXPickTrayMoveDistance = devicePositionService.getPosition(DevicePositionCode.transferModuleXPickTrayMoveDistance).getDistance();//获取转运模块X轴拿取托盘进出卡槽移动距离
         Double transferModuleZPickTrayDownPositon = devicePositionService.getPosition(DevicePositionCode.transferModuleZPickTrayDownPositon).getPositon();//获取转运模块Z轴拿取托盘时下降的高度位置

src/main/java/com/iflytop/sgs/app/cmd/control/MoveToLiquidAreaCommand.java

@@ -1,5 +1,6 @@
 package com.iflytop.sgs.app.cmd.control;
 
+import cn.hutool.core.lang.Assert;
 import com.iflytop.sgs.app.core.BaseCommandHandler;
 import com.iflytop.sgs.app.model.bo.Point3D;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
@@ -10,6 +11,8 @@ import com.iflytop.sgs.app.service.device.module.TransferModuleService;
 import com.iflytop.sgs.common.annotation.CommandMapping;
 import com.iflytop.sgs.common.enums.HeatModuleCode;
 import com.iflytop.sgs.common.enums.data.DevicePositionCode;
+import com.iflytop.sgs.common.exception.AppException;
+import com.iflytop.sgs.common.result.ResultCode;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -36,9 +39,9 @@ public class MoveToLiquidAreaCommand extends BaseCommandHandler {
         HeatModuleCode targetHeatModuleCode;//目标加热模块
         if (targetHeatModuleCodeStr != null) {//目标加热模块非必填，如果没有传递目标加热模块则尝试获取上料区是否有托盘
             targetHeatModuleCode = HeatModuleCode.valueOf(targetHeatModuleCodeStr);
-        }else{
+        } else {
             targetHeatModuleCode = null;
-            //TODO 尝试获取上料区是否有托盘，如果没有托盘则提示错误
+            Assert.isTrue(deviceStateService.getDeviceState().getSolutionModule().isFeedAreaTrayStatus(), () -> new AppException(ResultCode.FEED_AREA_NO_TRAY));//上料区无托盘
         }
 
         Point3D targetHeatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(targetHeatModuleCode);//获取目标加热模块托盘夹取点
@@ -48,7 +51,7 @@ public class MoveToLiquidAreaCommand extends BaseCommandHandler {
         Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液时托盘位置点
 
         return runAsync(() -> {
-            if(targetHeatModuleCode == null){
+            if (targetHeatModuleCode == null) {
                 //获取上料区托盘
                 transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.getX() + transferModuleXPickTrayMoveDistance);//将X轴移动至上料区托盘夹取点 + 进出卡槽移动距离
                 transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), transferModuleZPickTrayDownPositon);//Z轴下降至夹取点，使托盘落入石墨加热盘
@@ -56,7 +59,7 @@ public class MoveToLiquidAreaCommand extends BaseCommandHandler {
                 transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高
                 deviceStateService.getDeviceState().getSolutionModule().setFeedAreaTrayStatus(false);//设定上料区托盘状态
                 deviceStateService.getDeviceState().getTrayByHeatModuleCode(targetHeatModuleCode).setInFeedArea(false);//设定托盘不在上料区中
-            }else{
+            } else {
                 //获取目标加热模块托盘
                 transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), targetHeatModuleTrayClawPoint3D.getX() + transferModuleXPickTrayMoveDistance);//将X轴移动至目标加热模块托盘夹取点 + 进出卡槽移动距离
                 transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), transferModuleZPickTrayDownPositon);//Z轴下降至夹取点，使托盘落入石墨加热盘

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

@@ -57,6 +57,8 @@ public enum ResultCode implements IResultCode, Serializable {
     CMD_BUSY("6024", "设备忙，请稍后"),
     TARGET_HEAT_MODULE_NOT_ANNEAL("6025", "目标加热区不是退火状态"),
     TRANSFER_MODULE_NO_TRAY("6026", "转运模块无托盘"),
+    SOLUTION_MODULE_NO_TRAY("6027", "加液模块无托盘"),
+    FEED_AREA_NO_TRAY("6028", "上料区无托盘"),
     ;
     /** 状态码 */
     private final String code;