增加工艺和手动指令执行过程中的异常处理

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

@@ -6,6 +6,7 @@ import com.iflytop.sgs.app.core.BaseCommandHandler;
 import com.iflytop.sgs.app.model.bo.Point3D;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
 import com.iflytop.sgs.app.model.entity.Solutions;
+import com.iflytop.sgs.app.service.api.CraftsService;
 import com.iflytop.sgs.app.service.api.DevicePositionService;
 import com.iflytop.sgs.app.service.api.SolutionsService;
 import com.iflytop.sgs.app.service.api.SystemConfigService;
@@ -42,6 +43,7 @@ public class CleanStartCommand extends BaseCommandHandler {
     private final SystemConfigService systemConfigService;
     private final DeviceSensorService deviceSensorService;
     private final SolutionsService solutionsService;
+    private final CraftsService craftsService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
@@ -52,7 +54,7 @@ public class CleanStartCommand extends BaseCommandHandler {
         Assert.notEmpty(jsonArray, () -> new AppException(ResultCode.INVALID_PARAMETER));
         Integer cycle = cmdDTO.getIntegerParam("cycle");//清洗次数
         Double height = cmdDTO.getDoubleParam("height");//针头下降高度
-        Double volume = cmdDTO.getDoubleParam("volume");//加水的量
+        Double volume = cmdDTO.getDoubleParam("volume") == null ? 2.0 : cmdDTO.getDoubleParam("volume");//加水的量
         Integer maxCycles = systemConfigService.getSystemConfigIntegerByCode(SystemConfigCode.cycle_clean_max);//获取最大清洁次数配置
         Assert.isTrue(cycle != null && cycle > 0 && cycle < maxCycles && height < 55 && volume != null, () -> new AppException(ResultCode.INVALID_PARAMETER));//清洁次数不为空 切清洁次数大于0
         Solutions solutions = solutionsService.getByCode(SolutionCode.water.name());
@@ -63,13 +65,16 @@ public class CleanStartCommand extends BaseCommandHandler {
         Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液时托盘位置点
         Double trayTubeHorizontalSpacingDistance = devicePositionService.getPosition(DevicePositionCode.trayTubeHorizontalSpacingDistance).getDistance();//获取托盘试管水平间距
         Double backFlowDistance = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.back_flow_distance);//防低落距离
-        return runAsync(() -> {
-            try {
         boolean moduleIdle = deviceStateService.getDeviceState().getTransferModule().isIdle();
-                if(!moduleIdle){
+        if (!moduleIdle) {
+            throw new AppException(ResultCode.CMD_BUSY);//设备忙
+        }
+        boolean requestResult = transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_by_manual);//申请使用转运模块
+        if (!requestResult) {
             throw new AppException(ResultCode.CMD_BUSY);//设备忙
         }
-                transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_by_manual);//申请使用转运模块
+        return runAsync(() -> {
+            try {
                 deviceStateService.getCommandMutexState().get().setTransferCommandExecuting(true);
                 deviceStateService.getDeviceState().getSolutionModule().setPumping(true);//设置正在加液
                 solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液模块上升
@@ -97,10 +102,13 @@ public class CleanStartCommand extends BaseCommandHandler {
                         solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液模块上升至最高，移出试管
                     }
                 }
+                transferModuleService.releaseTransferModule();//释放转运模组
+            } catch (Exception e) {
+                log.error("清洗指令执行异常:{}", e.getMessage());
+                throw new Exception(e);
             } finally {
                 deviceStateService.getDeviceState().getSolutionModule().setPumping(false);//设置加液结束
                 deviceStateService.getCommandMutexState().get().setTransferCommandExecuting(false);
-                transferModuleService.releaseTransferModule();//释放转运模组
             }
 
         });

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

@@ -4,6 +4,7 @@ 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;
+import com.iflytop.sgs.app.service.api.CraftsService;
 import com.iflytop.sgs.app.service.api.DevicePositionService;
 import com.iflytop.sgs.app.service.api.SystemConfigService;
 import com.iflytop.sgs.app.service.device.DeviceSensorService;
@@ -41,6 +42,8 @@ public class DrainLiquidCommand extends BaseCommandHandler {
     private final DeviceSensorService deviceSensorService;
     private final SolutionModuleService solutionModuleService;
     private final SystemConfigService systemConfigService;
+    private final CraftsService craftsService;
+
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
@@ -54,21 +57,24 @@ public class DrainLiquidCommand extends BaseCommandHandler {
         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
-        boolean moduleIdle = deviceStateService.getDeviceState().getTransferModule().isIdle();
-        return runAsync(() -> {
-            try {
         boolean liquidTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取上料区托盘状态
         Assert.isTrue(!liquidTrayExist, () -> new AppException(ResultCode.OPERATION_NOT_ALLOWED));//上料区不能存在托盘
+        boolean moduleIdle = deviceStateService.getDeviceState().getTransferModule().isIdle();
         if (!moduleIdle) {
             throw new AppException(ResultCode.CMD_BUSY);//设备忙
         }
-                transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_by_manual);//申请使用转运模块
+        boolean requestResult=transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_by_manual);//申请使用转运模块
+        if(!requestResult) {
+            throw new AppException(ResultCode.CMD_BUSY);//设备忙
+        }
+        return runAsync(() -> {
+            try {
                 deviceStateService.getCommandMutexState().get().setTransferCommandExecuting(true);
                 solutionModuleService.solutionMotorMoveZero();//加液机械臂上升
                 transferModuleService.transferZMoveZero();//Z轴抬升至最高
                 transferModuleService.transferXMove(heatArea1TrayClawPoint.getX());//转运模块移动至加热位1
-                liquidTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取上料区托盘状态
-                Assert.isTrue(!liquidTrayExist, () -> new AppException(ResultCode.OPERATION_NOT_ALLOWED));//上料区不能存在托盘
+                boolean liquidTrayExistAgain = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取上料区托盘状态
+                Assert.isTrue(!liquidTrayExistAgain, () -> new AppException(ResultCode.OPERATION_NOT_ALLOWED));//上料区不能存在托盘
                 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
@@ -79,9 +85,12 @@ public class DrainLiquidCommand extends BaseCommandHandler {
                 solutionModuleService.liquidValveSwitch(SolutionCode.water);//电磁阀对应通道打开
                 solutionModuleService.liquidPumpMove(-preFillDistance);//排空
                 solutionModuleService.solutionMotorMoveZero();//回原点
-            } finally {
-                deviceStateService.getCommandMutexState().get().setTransferCommandExecuting(false);
                 transferModuleService.releaseTransferModule();//释放转运模组
+            } catch (Exception e) {
+                log.error("排空指令执行异常:{}", e.getMessage());
+                throw new Exception(e);
+            }finally {
+                deviceStateService.getCommandMutexState().get().setTransferCommandExecuting(false);
             }
         });
     }

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

@@ -7,10 +7,7 @@ import com.iflytop.sgs.app.model.bo.Point3D;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
 import com.iflytop.sgs.app.model.entity.Container;
 import com.iflytop.sgs.app.model.entity.Solutions;
-import com.iflytop.sgs.app.service.api.ContainerService;
-import com.iflytop.sgs.app.service.api.DevicePositionService;
-import com.iflytop.sgs.app.service.api.SolutionsService;
-import com.iflytop.sgs.app.service.api.SystemConfigService;
+import com.iflytop.sgs.app.service.api.*;
 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;
@@ -44,6 +41,7 @@ public class LiquidAddCommand extends BaseCommandHandler {
     private final DeviceSensorService deviceSensorService;
     private final ContainerService containerService;
     private final SystemConfigService systemConfigService;
+    private final CraftsService craftsService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
@@ -62,13 +60,16 @@ public class LiquidAddCommand extends BaseCommandHandler {
         Container container = containerService.getById(containerId);
         Solutions solutions = solutionsService.getById(container.getSolutionId());//获取溶液
         Assert.isTrue(!jsonArray.isEmpty(), () -> new AppException(ResultCode.INVALID_PARAMETER));//确定选中了列
-        return runAsync(() -> {
-            try {
         boolean moduleIdle = deviceStateService.getDeviceState().getTransferModule().isIdle();
         if(!moduleIdle){
             throw new AppException(ResultCode.CMD_BUSY);//设备忙
         }
-                transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_by_manual);//申请使用转运模块
+        boolean requestResult=transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_by_manual);//申请使用转运模块
+        if(!requestResult) {
+            throw new AppException(ResultCode.CMD_BUSY);//设备忙
+        }
+        return runAsync(() -> {
+            try {
                 deviceStateService.getCommandMutexState().get().setTransferCommandExecuting(true);
                 deviceStateService.getDeviceState().getSolutionModule().setPumping(true);//设置正在加液
                 solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂上升至0
@@ -99,10 +100,13 @@ public class LiquidAddCommand extends BaseCommandHandler {
                 }
                 solutionModuleService.liquidPumpMove(-backFlowDistance);//倒吸
                 transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint);//移动至加液位置
-            } finally {
+                transferModuleService.releaseTransferModule();//释放转运模组
+            } catch (Exception e) {
+                log.error("加液指令执行异常:{}", e.getMessage());
+                throw new Exception(e);
+            }finally {
                 deviceStateService.getDeviceState().getSolutionModule().setPumping(false);//设置加液结束
                 deviceStateService.getCommandMutexState().get().setTransferCommandExecuting(false);
-                transferModuleService.releaseTransferModule();//释放转运模组
             }
 
         });

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

@@ -5,6 +5,7 @@ import com.iflytop.sgs.app.core.BaseCommandHandler;
 import com.iflytop.sgs.app.model.bo.Point3D;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
 import com.iflytop.sgs.app.model.entity.Solutions;
+import com.iflytop.sgs.app.service.api.CraftsService;
 import com.iflytop.sgs.app.service.api.DevicePositionService;
 import com.iflytop.sgs.app.service.api.SolutionsService;
 import com.iflytop.sgs.app.service.device.DeviceStateService;
@@ -35,6 +36,7 @@ public class LiquidPreFillStartCommand extends BaseCommandHandler {
     private final DevicePositionService devicePositionService;
     private final TransferModuleService transferModuleService;
     private final SolutionsService solutionsService;
+    private final CraftsService craftsService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
@@ -47,22 +49,28 @@ public class LiquidPreFillStartCommand extends BaseCommandHandler {
         SolutionCode solutionCode = SolutionCode.valueOf(solutions.getCode());//获取对应的电磁阀通道
         Point3D heatArea1TrayClawPoint = devicePositionService.getPosition(DevicePositionCode.heatArea1TrayClawPoint).getPoint3D(); //加热区1上方点位用于放置转运机械臂
         Double liquidAreaPreFillPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaPreFillPoint).getPositon(); //预充时加液臂下降位置
-        return runAsync(() -> {
-            try {
         boolean moduleIdle = deviceStateService.getDeviceState().getTransferModule().isIdle();
-                if(!moduleIdle){
+        if (!moduleIdle) {
+            throw new AppException(ResultCode.CMD_BUSY);//设备忙
+        }
+        boolean requestResult = transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_by_manual);//申请使用转运模块
+        if (!requestResult) {
             throw new AppException(ResultCode.CMD_BUSY);//设备忙
         }
-                transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_by_manual);//申请使用转运模块
+        return runAsync(() -> {
+            try {
                 deviceStateService.getCommandMutexState().get().setSolutionAddCommandExecuting(true);
                 deviceStateService.getDeviceState().getSolutionModule().setPumping(true);//设置正在加液
                 solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), solutionCode);//电磁阀对应的酸液通道打开
                 transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatArea1TrayClawPoint.getX());//转运模块移动至加热位1
                 solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaPreFillPoint);//加液机械臂下降至至预充点位
                 solutionModuleService.liquidPumpRotateForward(cmdDTO.getCommandId(), cmdDTO.getCommand());//预充开始
+                transferModuleService.releaseTransferModule();//释放转运模组
+            } catch (Exception e) {
+                log.error("预充指令执行异常:{}", e.getMessage());
+                throw new Exception(e);
             } finally {
                 deviceStateService.getCommandMutexState().get().setSolutionAddCommandExecuting(false);
-                transferModuleService.releaseTransferModule();//释放转运模组
             }
         });
     }

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

@@ -2,6 +2,7 @@ package com.iflytop.sgs.app.cmd.control;
 
 import com.iflytop.sgs.app.core.BaseCommandHandler;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
+import com.iflytop.sgs.app.service.api.CraftsService;
 import com.iflytop.sgs.app.service.api.SystemConfigService;
 import com.iflytop.sgs.app.service.device.DeviceStateService;
 import com.iflytop.sgs.app.service.device.module.SolutionModuleService;
@@ -28,25 +29,15 @@ public class LiquidPreFillStopCommand extends BaseCommandHandler {
     private final SolutionModuleService solutionModuleService;
     private final DeviceStateService deviceStateService;
     private final SystemConfigService systemConfigService;
-    private final TransferModuleService transferModuleService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         Double backFlowDistance = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.back_flow_distance);//防低落距离
         return runAsync(() -> {
-            try {
-                boolean moduleIdle = deviceStateService.getDeviceState().getTransferModule().isIdle();
-                if (!moduleIdle) {
-                    throw new AppException(ResultCode.CMD_BUSY);//设备忙
-                }
-                transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_by_manual);//申请使用转运模块
             solutionModuleService.liquidPumpStop(cmdDTO.getCommandId(), cmdDTO.getCommand());//停止预充
-                solutionModuleService.liquidPumpMove(-backFlowDistance);//预充
+            solutionModuleService.liquidPumpMove(-backFlowDistance);//倒吸
             solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂归0
             deviceStateService.getDeviceState().getSolutionModule().setPumping(false);//设置加液结束
-            } finally {
-                transferModuleService.releaseTransferModule();//释放转运模组
-            }
 
         });
     }

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

@@ -5,6 +5,7 @@ import cn.hutool.json.JSONArray;
 import com.iflytop.sgs.app.core.BaseCommandHandler;
 import com.iflytop.sgs.app.model.bo.Point3D;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
+import com.iflytop.sgs.app.service.api.CraftsService;
 import com.iflytop.sgs.app.service.api.DevicePositionService;
 import com.iflytop.sgs.app.service.api.SystemConfigService;
 import com.iflytop.sgs.app.service.device.DeviceSensorService;
@@ -39,6 +40,7 @@ public class LiquidReduceCommand extends BaseCommandHandler {
     private final TransferModuleService transferModuleService;
     private final SystemConfigService systemConfigService;
     private final DeviceSensorService deviceSensorService;
+    private final CraftsService craftsService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
@@ -55,13 +57,16 @@ public class LiquidReduceCommand extends BaseCommandHandler {
         Double trayTubeHorizontalSpacingDistance = devicePositionService.getPosition(DevicePositionCode.trayTubeHorizontalSpacingDistance).getDistance();//获取托盘试管水平间距
         Double solutionModuleMotorDownInTubeExtPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeExtPositon).getPositon();//加液模块电机下降进入试管抽取位置
         double reduceNumber = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.reduce_distance);//抽液volume配置
-        return runAsync(() -> {
-            try {
         boolean moduleIdle = deviceStateService.getDeviceState().getTransferModule().isIdle();
         if (!moduleIdle) {
             throw new AppException(ResultCode.CMD_BUSY);//设备忙
         }
-                transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_by_manual);//申请使用转运模块
+        boolean requestResult = transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_by_manual);//申请使用转运模块
+        if (!requestResult) {
+            throw new AppException(ResultCode.CMD_BUSY);//设备忙
+        }
+        return runAsync(() -> {
+            try {
                 deviceStateService.getCommandMutexState().get().setTransferCommandExecuting(true);
                 solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液模块上升
                 transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);//移动至加液时托盘位置点
@@ -82,9 +87,12 @@ public class LiquidReduceCommand extends BaseCommandHandler {
                 solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液模块上升至最高，移出试管
                 transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);//移动至托盘至加液位置点
                 deviceStateService.getDeviceState().getSolutionModule().setPumping(false);//设置加液结束
+                transferModuleService.releaseTransferModule();//释放转运模组
+            } catch (Exception e) {
+                log.error("抽液指令执行异常:{}", e.getMessage());
+                throw new Exception(e);
             }finally {
                 deviceStateService.getCommandMutexState().get().setTransferCommandExecuting(false);
-                transferModuleService.releaseTransferModule();//释放转运模组
             }
 
         });

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

@@ -4,6 +4,7 @@ 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;
+import com.iflytop.sgs.app.service.api.CraftsService;
 import com.iflytop.sgs.app.service.api.DevicePositionService;
 import com.iflytop.sgs.app.service.device.DeviceSensorService;
 import com.iflytop.sgs.app.service.device.DeviceStateService;
@@ -38,6 +39,7 @@ public class MoveToAnnealAreaCommand extends BaseCommandHandler {
     private final DeviceStateService deviceStateService;
     private final DeviceSensorService deviceSensorService;
     private final SolutionModuleService solutionModuleService;
+    private final CraftsService craftsService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
@@ -57,15 +59,18 @@ public class MoveToAnnealAreaCommand 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 liquidAreaTrayPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D(); //获取加液区上方点位
         Point3D feedAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.feedAreaTrayPoint).getPoint3D();//获取上料区托盘夹爪位置点
-        return runAsync(() -> {
-            try {
         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));//退火位不能有托盘
         boolean moduleIdle = deviceStateService.getDeviceState().getTransferModule().isIdle();
         if (!moduleIdle) {
             throw new AppException(ResultCode.CMD_BUSY);//设备忙
         }
-                transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_by_manual);//申请使用转运模块
+        boolean requestResult = transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_by_manual);//申请使用转运模块
+        if (!requestResult) {
+            throw new AppException(ResultCode.CMD_BUSY);//设备忙
+        }
+        return runAsync(() -> {
+            try {
                 deviceStateService.getCommandMutexState().get().setTransferCommandExecuting(true);
                 solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂上升
                 if (heatModuleCode == null) {
@@ -93,14 +98,17 @@ public class MoveToAnnealAreaCommand extends BaseCommandHandler {
                 }
                 transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高
                 transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), targetHeatModuleTrayClawPoint3D.getX());//将X轴移动至目标加热模块托盘夹取点
-                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));//退火位不能有托盘
+                boolean annealTrayExistAgain = deviceSensorService.getSensorStatus(DeviceSensorCode.HEATER_TRAY_4_EXIST);//获取传感器状态
+                Assert.isTrue(!annealTrayExistAgain, () -> new AppException(ResultCode.ANNEAL_MODULE_EXIST_TRAY));//退火位不能有托盘
                 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轴移出卡槽
                 transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高
-            } finally {
-                deviceStateService.getCommandMutexState().get().setTransferCommandExecuting(false);
                 transferModuleService.releaseTransferModule();//释放转运模组
+            } catch (Exception e) {
+                log.error("移动至退火区指令执行异常:{}", e.getMessage());
+                throw new Exception(e);
+            }finally {
+                deviceStateService.getCommandMutexState().get().setTransferCommandExecuting(false);
             }
         });
     }

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

@@ -4,6 +4,7 @@ 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;
+import com.iflytop.sgs.app.service.api.CraftsService;
 import com.iflytop.sgs.app.service.api.DevicePositionService;
 import com.iflytop.sgs.app.service.device.DeviceSensorService;
 import com.iflytop.sgs.app.service.device.DeviceStateService;
@@ -38,33 +39,38 @@ public class MoveToFeedAreaCommand extends BaseCommandHandler {
     private final DeviceStateService deviceStateService;
     private final DeviceSensorService deviceSensorService;
     private final SolutionModuleService solutionModuleService;
+    private final CraftsService craftsService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
         if (deviceStateService.getCommandMutexState().get().isTransferCommandExecuting()) {
             throw new AppException(ResultCode.CMD_BUSY);
         }
-        boolean liquidTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取上料区托盘状态
-        Assert.isTrue(!liquidTrayExist, () -> new AppException(ResultCode.OPERATION_NOT_ALLOWED));//上料区不能存在托盘
+        boolean feedTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取上料区位托盘状态
+        Assert.isTrue(!feedTrayExist, () -> new AppException(ResultCode.FEED_AREA_EXIST_TRAY));//上料区存在托盘
         String targetHeatModuleCodeStr = cmdDTO.getStringParam("heatModuleCode");
         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加液位是否有托盘
             targetHeatModuleCode = HeatModuleCode.valueOf(targetHeatModuleCodeStr);
+            boolean heatTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(targetHeatModuleCode);//获取传感器状态
+            Assert.isTrue(heatTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//加热区无托盘
+
         } else {
             targetHeatModuleCode = null;
         }
         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();//获取加液区托盘夹爪位置点
-        return runAsync(() -> {
-            try {
-                boolean feedTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取上料区位托盘状态
-                Assert.isTrue(!feedTrayExist, () -> new AppException(ResultCode.FEED_AREA_EXIST_TRAY));//上料区存在托盘
         boolean moduleIdle = deviceStateService.getDeviceState().getTransferModule().isIdle();
         if (!moduleIdle) {
             throw new AppException(ResultCode.CMD_BUSY);//设备忙
         }
-                transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_by_manual);//申请使用转运模块
+        boolean requestResult = transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_by_manual);//申请使用转运模块
+        if (!requestResult) {
+            throw new AppException(ResultCode.CMD_BUSY);//设备忙
+        }
+        return runAsync(() -> {
+            try {
                 deviceStateService.getCommandMutexState().get().setTransferCommandExecuting(true);
                 solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂上升
                 if (targetHeatModuleCode == null) {
@@ -72,8 +78,8 @@ public class MoveToFeedAreaCommand extends BaseCommandHandler {
                     boolean clawTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.CLAW_TRAY_EXIST);//获取夹爪位托盘状态
                     Assert.isTrue(clawTrayExist, () -> new AppException(ResultCode.OPERATION_NOT_ALLOWED));//夹爪托盘必须存在
                     transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), feedAreaTrayPoint3D.getX());//将X轴移动至上料区位置点
-                    feedTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取上料区位托盘状态
-                    Assert.isTrue(!feedTrayExist, () -> new AppException(ResultCode.FEED_AREA_EXIST_TRAY));//上料区存在托盘
+                    boolean feedTrayExistAgain = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取上料区位托盘状态
+                    Assert.isTrue(!feedTrayExistAgain, () -> 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
@@ -90,8 +96,8 @@ public class MoveToFeedAreaCommand extends BaseCommandHandler {
                     deviceStateService.getDeviceState().getTransferModule().setTrayStatus(true);//设定托盘在机械臂上
                     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
-                    feedTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取上料区位托盘状态
-                    Assert.isTrue(!feedTrayExist, () -> new AppException(ResultCode.FEED_AREA_EXIST_TRAY));//上料区存在托盘
+                    boolean feedTrayExistAgain = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取上料区位托盘状态
+                    Assert.isTrue(!feedTrayExistAgain, () -> 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
@@ -99,9 +105,12 @@ public class MoveToFeedAreaCommand extends BaseCommandHandler {
                     deviceStateService.getDeviceState().getHeatModuleByCode(targetHeatModuleCode).setTrayStatus(false);//设定目标加热模块托盘状态
                     deviceStateService.getDeviceState().getSolutionModule().setFeedAreaTrayStatus(true);//设定上料区托盘状态
                 }
+                transferModuleService.releaseTransferModule();//释放转运模组
+            } catch (Exception e) {
+                log.error("移动至上料区指令执行异常:{}", e.getMessage());
+                throw new Exception(e);
             } finally {
                 deviceStateService.getCommandMutexState().get().setTransferCommandExecuting(false);
-                transferModuleService.releaseTransferModule();//释放转运模组
             }
         });
     }

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

@@ -4,6 +4,7 @@ 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;
+import com.iflytop.sgs.app.service.api.CraftsService;
 import com.iflytop.sgs.app.service.api.DevicePositionService;
 import com.iflytop.sgs.app.service.device.DeviceSensorService;
 import com.iflytop.sgs.app.service.device.DeviceStateService;
@@ -38,6 +39,7 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
     private final DeviceStateService deviceStateService;
     private final DeviceSensorService deviceSensorService;
     private final SolutionModuleService solutionModuleService;
+    private final CraftsService craftsService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
@@ -53,15 +55,18 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
         boolean heatModuleTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(targetHeatModuleCode);//目标加热模块有无托盘
         Assert.isTrue(!heatModuleTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_OCCUPIED));//提示被占用
         deviceStateService.getCommandMutexState().get().setTransferCommandExecuting(true);
-        return runAsync(() -> {
-            try {
         boolean heatTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(targetHeatModuleCode);//获取传感器状态
         Assert.isTrue(!heatTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_OCCUPIED));//加热区存在托盘
         boolean moduleIdle = deviceStateService.getDeviceState().getTransferModule().isIdle();
         if (!moduleIdle) {
             throw new AppException(ResultCode.CMD_BUSY);//设备忙
         }
-                transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_by_manual);//申请使用转运模块
+        boolean requestResult = transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_by_manual);//申请使用转运模块
+        if (!requestResult) {
+            throw new AppException(ResultCode.CMD_BUSY);//设备忙
+        }
+        return runAsync(() -> {
+            try {
                 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
@@ -76,15 +81,18 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
                     transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高
                 }
                 transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), targetHeatModuleTrayClawPoint3D.getX());//将X轴移动至目标加热模块托盘夹取点
-                heatTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(targetHeatModuleCode);//获取传感器状态
-                Assert.isTrue(!heatTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_OCCUPIED));//加热区存在托盘
+                boolean heatTrayExistAgain = deviceSensorService.getTrayStateByHeatModuleCode(targetHeatModuleCode);//获取传感器状态
+                Assert.isTrue(!heatTrayExistAgain, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_OCCUPIED));//加热区存在托盘
                 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轴移出卡槽
                 transferModuleService.transferZMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//Z轴抬升至最高
                 deviceStateService.getDeviceState().getHeatModuleByCode(targetHeatModuleCode).setTrayStatus(true);//设置目标加热区有托盘
-            } finally {
-                deviceStateService.getCommandMutexState().get().setTransferCommandExecuting(false);
                 transferModuleService.releaseTransferModule();//释放转运模组
+            } catch (Exception e) {
+                log.error("移动至加热区指令执行异常:{}", e.getMessage());
+                throw new Exception(e);
+            }finally {
+                deviceStateService.getCommandMutexState().get().setTransferCommandExecuting(false);
             }
         });
     }

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

@@ -4,6 +4,7 @@ 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;
+import com.iflytop.sgs.app.service.api.CraftsService;
 import com.iflytop.sgs.app.service.api.DevicePositionService;
 import com.iflytop.sgs.app.service.device.DeviceSensorService;
 import com.iflytop.sgs.app.service.device.DeviceStateService;
@@ -38,6 +39,8 @@ public class MoveToLiquidAreaCommand extends BaseCommandHandler {
     private final DeviceStateService deviceStateService;
     private final SolutionModuleService solutionModuleService;
     private final DeviceSensorService deviceSensorService;
+    private final CraftsService craftsService;
+
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
@@ -56,13 +59,16 @@ public class MoveToLiquidAreaCommand extends BaseCommandHandler {
         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(() -> {
-            try {
         boolean moduleIdle = deviceStateService.getDeviceState().getTransferModule().isIdle();
         if (!moduleIdle) {
             throw new AppException(ResultCode.CMD_BUSY);//设备忙
         }
-                transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_by_manual);//申请使用转运模块
+        boolean requestResult = transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_by_manual);//申请使用转运模块
+        if (!requestResult) {
+            throw new AppException(ResultCode.CMD_BUSY);//设备忙
+        }
+        return runAsync(() -> {
+            try {
                 deviceStateService.getCommandMutexState().get().setTransferCommandExecuting(true);
                 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
@@ -91,12 +97,16 @@ public class MoveToLiquidAreaCommand extends BaseCommandHandler {
                         deviceStateService.getDeviceState().getHeatModuleByCode(targetHeatModuleCode).setTrayStatus(false);//设定目标加热模块托盘状态
                     }
                     transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D);//移动至加液时托盘位置点
-                } else {
-                    throw new AppException(ResultCode.TRANSFER_MODULE_YES_TRAY);//夹爪存在托盘
                 }
-            }finally {
-                deviceStateService.getCommandMutexState().get().setTransferCommandExecuting(false);
+                /*else {
+                    throw new AppException(ResultCode.TRANSFER_MODULE_YES_TRAY);//夹爪存在托盘
+                }*/
                 transferModuleService.releaseTransferModule();//释放转运模组
+            } catch (Exception e) {
+                log.error("移动至加液区指令执行异常:{}", e.getMessage());
+                throw new Exception(e);
+            } finally {
+                deviceStateService.getCommandMutexState().get().setTransferCommandExecuting(false);
             }
         });
     }

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

@@ -5,6 +5,7 @@ import com.iflytop.sgs.app.core.BaseCommandHandler;
 import com.iflytop.sgs.app.model.bo.Point3D;
 import com.iflytop.sgs.app.model.bo.status.device.TrayState;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
+import com.iflytop.sgs.app.service.api.CraftsService;
 import com.iflytop.sgs.app.service.api.DevicePositionService;
 import com.iflytop.sgs.app.service.device.DeviceSensorService;
 import com.iflytop.sgs.app.service.device.DeviceStateService;
@@ -40,50 +41,55 @@ public class OutTrayCommand extends BaseCommandHandler {
     private final DeviceStateService deviceStateService;
     private final DeviceSensorService deviceSensorService;
     private final SolutionModuleService solutionModuleService;
+    private final CraftsService craftsService;
 
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
         String targetHeatModuleCodeStr = cmdDTO.getStringParam("heatModuleCode");
+        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
         HeatModuleCode targetHeatModuleCode = HeatModuleCode.valueOf(targetHeatModuleCodeStr);//目标加热模块
+        Point3D targetHeatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(targetHeatModuleCode);//获取目标加热模块托盘夹取点
+        Point3D heat1ModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(HeatModuleCode.heat_module_01);//获取加热模块1托盘夹取点
         if (targetHeatModuleCode == HeatModuleCode.heat_module_04) {
             throw new AppException(ResultCode.NOT_ALLOWED_HEAT_MODULE);//不允许的加热模块
         }
-        boolean liquidTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取上料区托盘状态
-        Assert.isTrue(!liquidTrayExist, () -> new AppException(ResultCode.OPERATION_NOT_ALLOWED));//上料区不能存在托盘
+        boolean feedTrayExist = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取上料区托盘状态
+        Assert.isTrue(!feedTrayExist, () -> new AppException(ResultCode. FEED_AREA_EXIST_TRAY));//上料区不能存在托盘
         boolean heatTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(targetHeatModuleCode);//获取传感器状态
         Assert.isTrue(heatTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//加热区无托盘
-        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 targetHeatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(targetHeatModuleCode);//获取目标加热模块托盘夹取点
+        boolean moduleIdle = deviceStateService.getDeviceState().getTransferModule().isIdle();
+        if (!moduleIdle) {
+            throw new AppException(ResultCode.CMD_BUSY);//设备忙
+        }
+        boolean requestResult = transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_by_manual);//申请使用转运模块
+        if (!requestResult) {
+            throw new AppException(ResultCode.CMD_BUSY);//设备忙
+        }
         return runAsync(() -> {
             try {
-                transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_feed);//申请使用转运模块
-                boolean liquidTrayExistAgain = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取上料区托盘状态
-                Assert.isTrue(!liquidTrayExistAgain, () -> new AppException(ResultCode.OPERATION_NOT_ALLOWED));//上料区不能存在托盘
                 solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂上升
-                boolean heatTrayExistAgain = deviceSensorService.getTrayStateByHeatModuleCode(targetHeatModuleCode);//获取传感器状态
-                Assert.isTrue(heatTrayExistAgain, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//加热区无托盘
                 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(), 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
                 deviceStateService.getDeviceState().getTransferModule().setTrayStatus(true);//设定托盘在机械臂上
                 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 feedTrayExistAgain = deviceSensorService.getSensorStatus(DeviceSensorCode.LIQUID_TRAY_EXIST);//获取上料区托盘状态
+                Assert.isTrue(!feedTrayExistAgain, () -> new AppException(ResultCode.OPERATION_NOT_ALLOWED));//上料区不能存在托盘
                 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
+                transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heat1ModuleTrayClawPoint3D.getX());//将X轴移动至加热区1上方
                 deviceStateService.getDeviceState().getTransferModule().setTrayStatus(false);//设定托盘夹爪为FALSE
                 deviceStateService.getDeviceState().getHeatModuleByCode(targetHeatModuleCode).setTrayStatus(false);//设定目标加热模块托盘状态
                 List<TrayState> trayList = deviceStateService.getDeviceState().getTrays();
-//                for (TrayState trayState : trayList) {
-//                    if (trayState != null) {
-//                        log.info("点击移出托盘按钮{}", trayState.getHeatModuleCode().name());
-//                    }
-//                }
                 trayList.removeIf((tray) -> tray.getHeatModuleCode() != null && tray.getHeatModuleCode().equals(targetHeatModuleCode));
-            } finally {
                 transferModuleService.releaseTransferModule();//释放转运模组
+            } catch (Exception e) {
+                log.error("工艺执行中异常:{}", e.getMessage());
+                throw new Exception(e);
             }
         });
     }

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

@@ -3,6 +3,7 @@ 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.dto.CmdDTO;
+import com.iflytop.sgs.app.service.api.CraftsService;
 import com.iflytop.sgs.app.service.device.DeviceCommandService;
 import com.iflytop.sgs.app.service.device.DeviceSensorService;
 import com.iflytop.sgs.app.service.device.DeviceStateService;
@@ -34,19 +35,23 @@ public class XOriginCommand extends BaseCommandHandler {
     private final DeviceSensorService deviceSensorService;
     private final DeviceStateService deviceStateService;
     private final TransferModuleService transferModuleService;
+    private final CraftsService craftsService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         if (deviceStateService.getCommandMutexState().get().isGantryXOriginCommandExecuting()) {
             throw new AppException(ResultCode.CMD_BUSY);
         }
-        return runAsync(() -> {
-            try {
         boolean moduleIdle = deviceStateService.getDeviceState().getTransferModule().isIdle();
         if (!moduleIdle) {
             throw new AppException(ResultCode.CMD_BUSY);//设备忙
         }
-                transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_by_manual);//申请使用转运模块
+        boolean requestResult = transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_by_manual);//申请使用转运模块
+        if (!requestResult) {
+            throw new AppException(ResultCode.CMD_BUSY);//设备忙
+        }
+        return runAsync(() -> {
+            try {
                 deviceStateService.getCommandMutexState().get().setGantryXOriginCommandExecuting(true);
                 //确保z轴的高度
                 Double zPosition = deviceSensorService.getMotorPosition(DevicePartId.ZM);
@@ -54,9 +59,12 @@ public class XOriginCommand extends BaseCommandHandler {
                 DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferXOrigin();
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                 CommandUtil.wait(deviceCommandFuture);
+                transferModuleService.releaseTransferModule();//释放转运模组
+            }catch (Exception e) {
+                log.error("x轴电机回原点指令执行异常:{}", e.getMessage());
+                throw  new Exception(e);
             } finally {
                 deviceStateService.getCommandMutexState().get().setGantryXOriginCommandExecuting(false);
-                transferModuleService.releaseTransferModule();//释放转运模组
             }
         });
     }

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

@@ -2,6 +2,7 @@ package com.iflytop.sgs.app.cmd.control;
 
 import com.iflytop.sgs.app.core.BaseCommandHandler;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
+import com.iflytop.sgs.app.service.api.CraftsService;
 import com.iflytop.sgs.app.service.device.DeviceCommandService;
 import com.iflytop.sgs.app.service.device.DeviceStateService;
 import com.iflytop.sgs.app.service.device.module.TransferModuleService;
@@ -30,26 +31,33 @@ public class ZOriginCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
     private final DeviceStateService deviceStateService;
     private final TransferModuleService transferModuleService;
+    private final CraftsService craftsService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         if (deviceStateService.getCommandMutexState().get().isGantryXOriginCommandExecuting()) {
             throw new AppException(ResultCode.CMD_BUSY);
         }
-        return runAsync(() -> {
-            try {
         boolean moduleIdle = deviceStateService.getDeviceState().getTransferModule().isIdle();
         if (!moduleIdle) {
             throw new AppException(ResultCode.CMD_BUSY);//设备忙
         }
-                transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_by_manual);//申请使用转运模块
+        boolean requestResult = transferModuleService.requestTransferModule(CraftsTransferTypeCode.move_by_manual);//申请使用转运模块
+        if (!requestResult) {
+            throw new AppException(ResultCode.CMD_BUSY);//设备忙
+        }
+        return runAsync(() -> {
+            try {
                 deviceStateService.getCommandMutexState().get().setGantryZOriginCommandExecuting(true);
                 DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferZOrigin();
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                 CommandUtil.wait(deviceCommandFuture);
-            } finally {
-                deviceStateService.getCommandMutexState().get().setGantryZOriginCommandExecuting(false);
                 transferModuleService.releaseTransferModule();//释放转运模组
+            } catch (Exception e) {
+                log.error("z轴电机回原点指令执行异常:{}", e.getMessage());
+                throw new Exception(e);
+            }finally {
+                deviceStateService.getCommandMutexState().get().setGantryZOriginCommandExecuting(false);
             }
         });
     }

src/main/java/com/iflytop/sgs/app/service/api/CraftsService.java

@@ -31,9 +31,11 @@ import com.iflytop.sgs.common.enums.automaton.CraftStates;
 import com.iflytop.sgs.common.exception.AppException;
 import com.iflytop.sgs.common.result.ResultCode;
 import jakarta.annotation.PostConstruct;
+import lombok.Getter;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.ObjectProvider;
+import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.statemachine.config.StateMachineFactory;
 import org.springframework.stereotype.Service;
 
@@ -58,7 +60,9 @@ public class CraftsService extends ServiceImpl<CraftsMapper, Crafts> {
     private final WebSocketSender webSocketService;
     private final CraftsStepService craftsStepService;
     private final CraftMonitorService craftMonitorService;
+    @Getter
     private final ConcurrentHashMap<HeatModuleCode, CraftsContext> contextMap = new ConcurrentHashMap<>();
+    @Getter
     private final ConcurrentHashMap<HeatModuleCode, Future<?>> futureMap = new ConcurrentHashMap<>();
     private ExecutorService executor;
     private final DeviceStateService deviceStateService;
@@ -113,7 +117,7 @@ public class CraftsService extends ServiceImpl<CraftsMapper, Crafts> {
         if (craftMonitor == null) {
             craftMonitor = new CraftMonitor();
             craftMonitor.setCurrentStepId(currentIndex);
-        }else{
+        } else {
             //currentIndex = craftMonitor.getCurrentStepId(); todo测试后放开
         }
         craftMonitor.setModifyParam(startCraftsDTO.getModifyParam());
@@ -124,14 +128,14 @@ public class CraftsService extends ServiceImpl<CraftsMapper, Crafts> {
         craftMonitorService.saveMonitor(craftMonitor);
         log.info("准备开始工艺，加热模块{},工艺{}", heatModuleCode, craft.getName());
         // 校验已有上下文状态，仅允许在 READY、STOPPED 或 FINISHED 状态下重置
-        CraftsContext existing = contextMap.get(heatModuleCode);
-        if (existing != null) {
-            CraftStates state = existing.getSm().getState().getId();
-            if (state == CraftStates.RUNNING || state == CraftStates.PAUSED) {
-                throw new AppException(ResultCode.CRAFT_RUNNING);
-            }
-            clearCraftContext(heatModuleCode);
-        }
+//        CraftsContext existing = contextMap.get(heatModuleCode);
+//        if (existing != null) {
+//            CraftStates state = existing.getSm().getState().getId();
+//            if (state == CraftStates.RUNNING || state == CraftStates.PAUSED) {
+//                throw new AppException(ResultCode.CRAFT_RUNNING);
+//            }
+//            clearCraftContext(heatModuleCode);
+//        }
 
         TrayState trayState = deviceStateService.getDeviceState().getTrayInFeedModule();
         //配置可操作试管

src/main/java/com/iflytop/sgs/app/service/crafts/CraftsStepService.java

@@ -23,13 +23,14 @@ import com.iflytop.sgs.app.ws.server.WebSocketSender;
 import com.iflytop.sgs.common.constant.WebSocketMessageType;
 import com.iflytop.sgs.common.enums.*;
 import com.iflytop.sgs.common.enums.cmd.CmdBeepMode;
-import com.iflytop.sgs.common.enums.cmd.CmdColor;
 import com.iflytop.sgs.common.enums.data.DevicePositionCode;
 import com.iflytop.sgs.common.exception.AppException;
 import com.iflytop.sgs.common.result.ResultCode;
-import com.iflytop.sgs.hardware.exception.HardwareException;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.BeansException;
+import org.springframework.context.ApplicationContext;
+import org.springframework.context.ApplicationContextAware;
 import org.springframework.stereotype.Service;
 
 import java.time.LocalDateTime;
@@ -37,6 +38,7 @@ import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.List;
 import java.util.concurrent.CompletableFuture;
+import java.util.concurrent.Future;
 
 /**
  * 工艺步骤执行服务
@@ -44,7 +46,8 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Service
 @RequiredArgsConstructor
-public class CraftsStepService {
+public class CraftsStepService implements ApplicationContextAware {
+    private ApplicationContext applicationContext;
     private final ContainerService containerService;
     private final WebSocketSender webSocketService;
     private final HeatModuleService heatModuleService;
@@ -58,6 +61,22 @@ public class CraftsStepService {
     private final DeviceLightSoundService deviceLightSoundService;
     private final CraftMonitorService craftMonitorService;
 
+    @Override
+    public void setApplicationContext(ApplicationContext applicationContext) throws BeansException {
+        this.applicationContext = applicationContext;
+    }
+
+    public synchronized void stopAllCrafts() {
+        CraftsService craftsService = applicationContext.getBean(CraftsService.class);
+        craftsService.getContextMap().forEach((key, ctx) -> {
+            Future<?> future = craftsService.getFutureMap().remove(key);
+            if (ctx != null && future != null) {
+                ctx.stop();
+                future.cancel(true);
+            }
+        });
+    }
+
     /**
      * 执行单个工艺步骤
      *
@@ -244,12 +263,16 @@ public class CraftsStepService {
             transferModuleService.transferZMoveZero();//Z轴抬升至最高
             deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayStatus(true);//加热区托盘状态
             deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setInHeatModule(true);//托盘状态
-            deviceStateService.getDeviceState().getSolutionModule().setPumping(false);//正在加液
             deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setInSolutionPositon(false);//托盘状态
+            deviceStateService.getDeviceState().getSolutionModule().setPumping(false);
+            deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setUseArm(false);//使用机械臂标志
+            transferModuleService.releaseTransferModule();//释放转运模组
             return true;
+        } catch (Exception e) {
+            log.error("工艺执行中异常:{}", e.getMessage());
+            throw new Exception(e);
         } finally {
             deviceStateService.getDeviceState().getSolutionModule().setPumping(false);
-            transferModuleService.releaseTransferModule();//释放转运模组
             deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setUseArm(false);//使用机械臂标志
         }
     }
@@ -448,10 +471,13 @@ public class CraftsStepService {
             deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setInHeatModule(true);//托盘状态
             deviceStateService.getDeviceState().getSolutionModule().setPumping(false);//正在加液
             deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setInSolutionPositon(false);//托盘状态
+            transferModuleService.releaseTransferModule();//释放转运模组
             return true;
+        } catch (Exception e) {
+            log.error("工艺执行中异常:{}", e.getMessage());
+            throw new Exception(e);
         } finally {
             deviceStateService.getDeviceState().getSolutionModule().setPumping(false);
-            transferModuleService.releaseTransferModule();//释放转运模组
             deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setUseArm(false);//使用机械臂标志
         }
     }
@@ -462,6 +488,7 @@ public class CraftsStepService {
      * */
     public boolean heat(HeatModuleCode heatModuleCode, JSONObject params, CraftMonitor craftMonitor) throws Exception {
         /*工艺监控清理上步的记录*/
+        try {
             craftMonitor.setDeviceState(JSONUtil.toJsonStr(deviceStateService.getDeviceState()));
             craftMonitor.setCurrentStepResult(CraftsMonitorResultCode.heat_time.getDescription() + ":0");
             craftMonitorService.saveMonitor(craftMonitor);
@@ -508,6 +535,11 @@ public class CraftsStepService {
             log.info("工艺{},加热结束", heatModuleCode);
             webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "加热结束，持续时间", time));
             return true;
+        } catch (Exception e) {
+            log.error("工艺加热异常:{}", e.getMessage());
+            throw new Exception(e);
+        }
+
     }
 
     /*
@@ -682,11 +714,14 @@ public class CraftsStepService {
             deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setInHeatModule(true);//托盘状态
             deviceStateService.getDeviceState().getSolutionModule().setPumping(false);//正在加液
             deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setInSolutionPositon(false);//托盘状态
+            log.info("工艺{},释放转运模组", heatModuleCode);
+            transferModuleService.releaseTransferModule();//释放转运模组
             return true;
+        } catch (Exception e) {
+            log.error("工艺执行中异常:{}", e.getMessage());
+            throw new Exception(e);
         } finally {
             deviceStateService.getDeviceState().getSolutionModule().setPumping(false);
-            log.info("工艺{},释放转运模组", heatModuleCode);
-            transferModuleService.releaseTransferModule();//释放转运模组
             deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setUseArm(false);//使用机械臂标志
         }
     }
@@ -695,6 +730,7 @@ public class CraftsStepService {
      * 烘干
      * */
     public boolean dry(HeatModuleCode heatModuleCode, JSONObject params, CraftMonitor craftMonitor) throws Exception {
+        try {
             /*工艺监控清理上步的记录*/
             craftMonitor.setDeviceState(JSONUtil.toJsonStr(deviceStateService.getDeviceState()));
             craftMonitor.setCurrentStepResult(CraftsMonitorResultCode.heat_time.getDescription() + ":0");
@@ -749,6 +785,11 @@ public class CraftsStepService {
             deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTargetTime(null);//加热器目标加热时间
             deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatingType(HeatingType.stop); //设置加热区状态
             return true;
+        } catch (Exception e) {
+            log.error("工艺烘干异常:{}", e.getMessage());
+            throw new Exception(e);
+        }
+
     }
 
     /*
@@ -829,10 +870,8 @@ public class CraftsStepService {
             }
             log.info("工艺{},恒温中", HeatModuleCode.heat_module_04);
             delay(seconds);
-            // heatModuleService.heatRodClose(HeatModuleCode.heat_module_04);//关闭加热棒
-            deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setStartHeatTime(null);//开始加热时间
-            deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTargetTime(null);//加热器目标加热时间
-            //deviceStateService.getDeviceState().getHeatModuleByCode(HeatModuleCode.heat_module_04).setHeatingType(HeatingType.stop); //设置加热区状态 停止加热
+            deviceStateService.getDeviceState().getHeatModuleByCode(HeatModuleCode.heat_module_04).setStartHeatTime(null);//开始加热时间
+            deviceStateService.getDeviceState().getHeatModuleByCode(HeatModuleCode.heat_module_04).setTargetTime(null);//加热器目标加热时间
 
             log.info("工艺{},加热完毕", heatModuleCode);
             log.info("工艺{},获取转运模组锁", heatModuleCode);
@@ -869,8 +908,10 @@ public class CraftsStepService {
             deviceStateService.getDeviceState().getHeatModuleByCode(HeatModuleCode.heat_module_04).setTrayStatus(false);
             deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setInHeatModule(true);//托盘状态
             return true;
+        } catch (Exception e) {
+            log.error("工艺执行中异常:{}", e.getMessage());
+            throw new Exception(e);
         } finally {
-            transferModuleService.releaseTransferModule();//释放转运模组
             deviceStateService.getDeviceState().getTrayByHeatModuleCode(heatModuleCode).setUseArm(false);//使用机械臂标志
         }
     }

src/main/java/com/iflytop/sgs/app/service/device/module/TransferModuleService.java

@@ -38,7 +38,7 @@ public class TransferModuleService {
      * 如果模块当前被占用（isIdle()==false）或自己不是“当前队列的队头”，则挂起在 this.wait()，
      * 被唤醒后再重新检查条件。直到自己既是队头，又模块空闲，才跳出循环拿到模块。
      */
-    public void requestTransferModule(CraftsTransferTypeCode type) {
+    public boolean requestTransferModule(CraftsTransferTypeCode type) {
         synchronized (this) {
             log.info("申请使用转运模块，类型 = {}", type);
 
@@ -47,10 +47,13 @@ public class TransferModuleService {
             switch (type) {
                 case move_by_manual:
                     boolean moduleIdle = deviceStateService.getDeviceState().getTransferModule().isIdle();
-                    if(!moduleIdle){
-                        throw new RuntimeException("转运模块当前正忙");
+                    if (!moduleIdle) {
+                        return false;
+                        //throw new RuntimeException("转运模块当前正忙,请稍后操作!");
+                    } else {
+                        deviceStateService.getDeviceState().getTransferModule().setIdle(false);
+                        return true;
                     }
-                    break;
                 case move_feed:
                     feedQueue.add(current);
                     break;
@@ -86,7 +89,7 @@ public class TransferModuleService {
                         head = heatQueue.peek();
                     } else if (!annealQueue.isEmpty()) {
                         head = annealQueue.peek();
-                    }else if (!thinQueue.isEmpty()) {
+                    } else if (!thinQueue.isEmpty()) {
                         head = thinQueue.peek();
                     } else if (!thickQueue.isEmpty()) {
                         head = thickQueue.peek();
@@ -115,6 +118,7 @@ public class TransferModuleService {
             removeCurrentFromQueue(type, current);
             deviceStateService.getDeviceState().getTransferModule().setIdle(false);
             log.info("线程 [{}] 成功获取到转运模块，类型 = {}", current.getName(), type);
+            return true;
         }
     }
 

src/main/java/com/iflytop/sgs/app/ws/client/DeviceEmergencyStopConfig.java

@@ -4,6 +4,7 @@ import com.iflytop.sgs.app.core.CommandPoolManager;
 import com.iflytop.sgs.app.service.api.CraftsService;
 import com.iflytop.sgs.app.service.device.DeviceStateService;
 import com.iflytop.sgs.app.service.device.DeviceStopService;
+import com.iflytop.sgs.app.service.device.module.TransferModuleService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Value;
@@ -28,7 +29,7 @@ public class DeviceEmergencyStopConfig {
 
 
     @Bean
-    DeviceEmergencyStopClient stopAllClientService() {
+    DeviceEmergencyStopClient stopAllClientService(TransferModuleService transferModuleService) {
         URI uri = URI.create(String.format("ws://%s:%d/%s", ip, port, "key"));
         return new DeviceEmergencyStopClient(uri, s -> {
             if (s.get("event").equals("press")) {
@@ -46,6 +47,7 @@ public class DeviceEmergencyStopConfig {
                 commandPoolManager.restartExecutor();
                 deviceStateService.getCommandMutexState().get().reset();
                 deviceStateService.getDeviceState().setEmergencyStop(false);
+                deviceStateService.getDeviceState().getTransferModule().setIdle(true);//释放锁
                 log.info("解除急停{}", s);
             }
         });

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

@@ -74,7 +74,7 @@ public enum ResultCode implements IResultCode, Serializable {
     NOT_ALLOWED_HEAT_MODULE("6035", "不允许选择的加热区"),
     FEED_AREA_EXIST_TRAY("6036", "上料区存在托盘"),
     FAN_START_FAIL("6037", "散热打开失败"),
-    HEAT_MODULE_TEMPERATURE_IS_HEIGHT("6038", "目标加热区温度过高"),
+    HEAT_MODULE_TEMPERATURE_IS_HEIGHT("6038", "目标加热区温度过高,请开启降温!"),
     Z_HEIGHT_NO_ALLOWED("6039", "z轴高度不允许"),
     ;
     /** 状态码 */