From 7476a4124265a54ba6ee4e32a3b7773c9dedb953 Mon Sep 17 00:00:00 2001
From: guoapeng <GuoAnPeng@163.com>
Date: Fri, 14 Feb 2025 16:33:17 +0800
Subject: [PATCH] =?UTF-8?q?feat:=E5=8A=A0=E6=B6=B2=E4=BD=8D=E7=8A=B6?=
 =?UTF-8?q?=E6=80=81?=
MIME-Version: 1.0
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---
 src/main/java/com/qyft/gd/service/CMDService.java | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/src/main/java/com/qyft/gd/service/CMDService.java b/src/main/java/com/qyft/gd/service/CMDService.java
index 0d9d685..f8c067e 100644
--- a/src/main/java/com/qyft/gd/service/CMDService.java
+++ b/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);