feat:加液位状态

src/main/java/com/qyft/gd/service/CMDService.java

@@ -4,7 +4,9 @@ import cn.hutool.json.JSONUtil;
 import com.qyft.gd.common.constant.Commands;
 import com.qyft.gd.common.result.CMDResultCode;
 import com.qyft.gd.config.WebSocketServer;
+import com.qyft.gd.device.model.bo.DeviceStatus;
 import com.qyft.gd.device.service.DeviceService;
+import com.qyft.gd.device.service.DeviceStateService;
 import com.qyft.gd.model.form.CMDForm;
 import com.qyft.gd.model.vo.ExecutionResult;
 import com.qyft.gd.model.vo.WebsocketResult;
@@ -20,6 +22,7 @@ import java.util.function.Supplier;
 public class CMDService {
 
     DeviceService deviceService;
+    DeviceStateService deviceStateService;
     Map<String, Function<CMDForm, Boolean>> commandMap;
 
     @Autowired
@@ -119,10 +122,13 @@ public class CMDService {
 // 移至加液
     private Boolean moveToActionArea(CMDForm cmdForm) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        // TODO 加液位是否被占用
+        // 加液位是否有托盘
+        Boolean liquidTrayStatus = deviceStateService.getDeviceStatus().getLiquidTrayStatus();
+        if(liquidTrayStatus) {
+            return false;
+        }
         cmdList.add(() -> deviceService.moveRailArmToPoint(1, 2, 3));
         cmdList.add(() -> deviceService.openClaw());
-        // TODO 检查加液位是否被占用
         cmdList.add(() -> deviceService.moveRailArmToPoint(4,5,6));
         return run(cmdList);