增加 加浓硝酸的抽取深度

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

@@ -288,6 +288,10 @@ public class CraftsStepService {
             Container container = containerService.getBySolutionsId(solutions.getId());//获取容器
             Double volume = params.getDouble("volume");//量
             JSONArray jsonArray = params.getJSONArray("columns");//列数
+            Double height = params.getDouble("height");//下降进入试管的高度
+            if (height > 50) {
+                throw new AppException(ResultCode.CRAFT_PARAMS_MISTAKE);
+            }
             Integer channel = container.getChannel();//获取阀门通道
             Double trayTubeHorizontalSpacingDistance = devicePositionService.getPosition(DevicePositionCode.trayTubeHorizontalSpacingDistance).getDistance(); //托盘试管水平间距
             double scale = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.valueOf(solutions.getCode()));//获取转换比
@@ -297,6 +301,7 @@ public class CraftsStepService {
             Double reduceDistance = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.reduce_distance);//抽液距离
             Point3D heatArea1TrayClawPoint = devicePositionService.getPosition(DevicePositionCode.heatArea1TrayClawPoint).getPoint3D();
             Double liquidAreaPreFillPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaPreFillPoint).getPositon(); //预充时加液臂下降位置
+
             /*获取参数结束*/
 
             log.info("工艺{},申请转运模组并等待", heatModuleCode);
@@ -346,7 +351,7 @@ public class CraftsStepService {
                     log.info("工艺{},机械臂移动到试管位置{}", heatModuleCode, i);
                     transferModuleService.transferXMove(liquidAreaTrayPoint3D.getX() + distance);//机械臂移动到试管位置
                     log.info("工艺{},加液机械臂下降", heatModuleCode);
-                    solutionModuleService.solutionMotorMove(solutionModuleMotorDownInTubeExtPositon);//加液机械臂下降
+                    solutionModuleService.solutionMotorMove(solutionModuleMotorDownInTubeExtPositon+height);//加液机械臂下降
                     webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "抽取溶液", addLiquidDistance));
                     log.info("工艺{},加液", heatModuleCode);
                     solutionModuleService.liquidPumpMove(-reduceDistance);//加液 position

src/main/java/com/iflytop/sgs/app/service/device/DeviceInitService.java

@@ -60,6 +60,7 @@ public class DeviceInitService {
                         }
                     });
                     initDeviceState();
+                    //把加热至为stop todo
                     initDeviceSetData();
                     canBusService.initOvertime();
                     initEnable();