自检增加后置判断

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

@@ -27,8 +27,6 @@ public class LiquidLiftingOriginCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            transferModuleService.transferZMoveBy(2);//向下移动2mm
-            transferModuleService.transferXMoveBy(21);//向右移动21mm
             solutionModuleService.solutionMotorOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
             selfTestService.getSelfTestState().setDualRobotOrigin(true);
         });

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

@@ -57,6 +57,14 @@ public class LiquidPreFillCommand extends BaseCommandHandler {
                 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
                 transferModuleService.transferXMove(heatArea1TrayClawPoint.getX());//转运模块移动至加热位1
+                 clawTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.CLAW_TRAY_EXIST);
+                if (clawTrayExist) {
+                    throw new AppException(ResultCode.TRANSFER_MODULE_YES_TRAY);//夹爪存在托盘
+                }
+                 feedTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);
+                if (feedTrayExist) {
+                    throw new AppException(ResultCode.FEED_AREA_EXIST_TRAY);//上料区存在托盘
+                }
                 solutionModuleService.solutionMotorMove(liquidAreaPreFillPoint);//加液机械臂下降至至预充点位
                 solutionModuleService.liquidValveSwitch(SolutionCode.waste);//电磁阀对应通道打开
                 solutionModuleService.liquidPumpMove(-preFillDistance);//排空

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

@@ -69,12 +69,31 @@ public class MoveTestCommand extends BaseCommandHandler {
                 transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高
                 transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);//转移至加液区托盘点位
                 transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), annealHeatModuleTrayClawPoint3D.getX());//将X轴移动至托盘夹取点
+                clawTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.CLAW_TRAY_EXIST);
+                if (clawTrayExist) {
+                    webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "机械臂夹爪存在试管架，请取出！", 0, "error"));
+                    throw new AppException(ResultCode.TRANSFER_MODULE_YES_TRAY);//夹爪存在托盘
+                }
+                feedTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);
+                if (feedTrayExist) {
+                    webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "上料区存在试管架，请取出！", 0, "error"));
+                    throw new AppException(ResultCode.FEED_AREA_EXIST_TRAY);//上料区存在托盘
+                }
                 solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), solutionModuleMotorDownInTubeExtPositon);//加液模块下降进入试管抽取位置
                 solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂抬升至最高
                 webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "2、加液模块升降电机检测完毕", 50, "success"));
                 transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D.getX());//将X轴移动至加液时托盘位置点
                 transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.getX());//将X轴移动至上料区位置点
                 webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "3、x轴电机检测完毕", 75, "success"));
+                if (clawTrayExist) {
+                    webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "机械臂夹爪存在试管架，请取出！", 0, "error"));
+                    throw new AppException(ResultCode.TRANSFER_MODULE_YES_TRAY);//夹爪存在托盘
+                }
+                feedTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);
+                if (feedTrayExist) {
+                    webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "上料区存在试管架，请取出！", 0, "error"));
+                    throw new AppException(ResultCode.FEED_AREA_EXIST_TRAY);//上料区存在托盘
+                }
                 transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.getZ());//Z轴下降至夹取点，使托盘落入上料区
                 transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高
                 webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(cmdDTO.getCommandId(), cmdDTO.getCommand(), "4、z轴电机检测完毕", 100, "success"));

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

@@ -11,6 +11,7 @@ import com.iflytop.sgs.app.service.device.module.HeatModuleService;
 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.HeatModuleCode;
 import com.iflytop.sgs.common.enums.data.DevicePositionCode;
 import com.iflytop.sgs.common.exception.AppException;
@@ -51,17 +52,23 @@ public class TrayOutCommand extends BaseCommandHandler {
         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
         Point3D feedAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.feedAreaTrayPoint).getPoint3D();//获取上料区托盘夹爪位置点
-        deviceStateService.getCommandMutexState().get().setTrayOut(true);
         return runAsync(() -> {
             try{
+                deviceStateService.getCommandMutexState().get().setTrayOut(true);
                 boolean heatModuleTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(targetHeatModuleCode);//目标加热模块有无托盘
-                Assert.isTrue(heatModuleTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//提示被占用
+                Assert.isTrue(heatModuleTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//提示无托盘
                 solutionModuleService.solutionMotorMoveZero();
                 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
+                heatModuleTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(targetHeatModuleCode);//目标加热模块有无托盘
+                Assert.isTrue(heatModuleTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//提示无托盘
                 transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), targetHeatModuleTrayClawPoint3D.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
                 transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高
                 transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.getX());//将X轴移动至上料区位置点
+                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
+                }
                 transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.getZ());//Z轴下降至夹取点，使托盘落入上料区
                 transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), transferModuleXPickTrayMoveDistance);//X轴移出卡槽
                 transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高