fix:测试问题修改

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

@@ -55,7 +55,7 @@ public class MoveToAnnealAreaCommand extends BaseCommandHandler {
         Point3D feedAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.feedAreaTrayPoint).getPoint3D();//获取上料区托盘夹爪位置点
         return runAsync(() -> {
             boolean annealTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.HEATER_TRAY_4_EXIST);//获取传感器状态
-            Assert.isTrue(!annealTrayExist, () -> new AppException(ResultCode.ANNEAL_MODULE_EXIST_TRAY));//加热位不能有托盘
+            Assert.isTrue(!annealTrayExist, () -> new AppException(ResultCode.ANNEAL_MODULE_EXIST_TRAY));//退火位不能有托盘
             if (heatModuleCode == null) {
                 solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂上升
                 transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint);//移动至加液位置
@@ -68,6 +68,8 @@ public class MoveToAnnealAreaCommand extends BaseCommandHandler {
                     transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -transferModuleXPickTrayMoveDistance);//X轴进入卡槽
                 }
             }else{
+                boolean heatTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(heatModuleCode);//获取转移加热区的传感器状态
+                Assert.isTrue(heatTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//加热模块无托盘
                 Point3D heatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(heatModuleCode);//获取加热模块托盘夹取点
                 transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleTrayClawPoint3D.getX() + transferModuleXPickTrayMoveDistance);//将X轴移动至加热区托盘夹取点 + 进出卡槽移动距离
                 transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleTrayClawPoint3D.getZ());//Z轴下降至夹取点，使托盘落入石墨加热盘

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

@@ -57,7 +57,7 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
             boolean clawTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.CLAW_TRAY_EXIST);//获取传感器状态
             if (!clawTrayExist) { //夹爪不存在托盘
                 boolean feedTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取上料区传感器状态
-                Assert.isTrue(!feedTrayExist, ()->new AppException(ResultCode.FEED_AREA_NO_TRAY));//上料区无托盘
+                Assert.isTrue(feedTrayExist, ()->new AppException(ResultCode.FEED_AREA_NO_TRAY));//上料区必须存在托盘
                 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(), feedAreaTrayPoint3D.getZ());//Z轴下降至夹取点，使托盘落入石墨加热盘
                 transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -transferModuleXPickTrayMoveDistance);//X轴进入卡槽

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

@@ -51,8 +51,9 @@ public class MoveToLiquidAreaCommand extends BaseCommandHandler {
         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
         Point3D feedAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.feedAreaTrayPoint).getPoint3D();//获取上料区托盘夹爪位置点
         Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液时托盘位置点
-
+        Assert.isTrue(deviceStateService.getDeviceState().getSolutionModule().isIdle(), ()->new AppException(ResultCode.SOLUTION_MODULE_IS_BUSY));//判断加液模块状态
         return runAsync(() -> {
+
             solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂上升
             transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);//移动至加液位置
             boolean clawTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.CLAW_TRAY_EXIST);//获取传感器状态