From 044512715c8971ed5421776c9b612579858f8f5c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E7=8E=8B?= <1063331231@qq.com>
Date: Wed, 11 Jun 2025 19:27:50 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=20=E5=8A=A0=E6=B5=93?=
 =?UTF-8?q?=E7=A1=9D=E9=85=B8=E7=9A=84=E6=8A=BD=E5=8F=96=E6=B7=B1=E5=BA=A6?=
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---
 .../java/com/iflytop/sgs/app/service/crafts/CraftsStepService.java | 7 ++++++-
 .../java/com/iflytop/sgs/app/service/device/DeviceInitService.java | 1 +
 2 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/src/main/java/com/iflytop/sgs/app/service/crafts/CraftsStepService.java b/src/main/java/com/iflytop/sgs/app/service/crafts/CraftsStepService.java
index 19cabf2..de70bb0 100644
--- a/src/main/java/com/iflytop/sgs/app/service/crafts/CraftsStepService.java
+++ b/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
diff --git a/src/main/java/com/iflytop/sgs/app/service/device/DeviceInitService.java b/src/main/java/com/iflytop/sgs/app/service/device/DeviceInitService.java
index 2bd48ee..aa52925 100644
--- a/src/main/java/com/iflytop/sgs/app/service/device/DeviceInitService.java
+++ b/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();