回吸放滴落功能

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

@@ -61,6 +61,7 @@ public class CleanStartCommand extends BaseCommandHandler {
         Double solutionModuleMotorDownInTubeExtPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeExtPositon).getPositon();//加液模块电机下降进入试管抽取位置
         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 {
                 deviceStateService.getCommandMutexState().get().setTransferCommandExecuting(true);
@@ -79,6 +80,7 @@ public class CleanStartCommand extends BaseCommandHandler {
                         solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), cleanWaterVolume);//八通道蠕动泵  cleanWaterVolume * waterScale * 8
                         solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液模块上升至最高，移出试管
                     }
+                    solutionModuleService.liquidPumpMove(-backFlowDistance);//预充
                     for (int j = 0; j < jsonArray.size(); j++) {
                         int column = jsonArray.getInt(j);
                         double distance = Math.abs(column - 5) * trayTubeHorizontalSpacingDistance;//x轴移动距离

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

@@ -50,6 +50,7 @@ public class LiquidAddCommand extends BaseCommandHandler {
         if (deviceStateService.getCommandMutexState().get().isTransferCommandExecuting()) {
             throw new AppException(ResultCode.CMD_BUSY);
         }
+        Double backFlowDistance = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.back_flow_distance);//防低落距离
         Point3D liquidAreaTrayPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D(); //获取加液区上方托盘点位
         Double solutionModuleMotorDownInTubeAddPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeAddPositon).getPositon(); //加液模块电机下降进入试管加液位置
         Double trayTubeHorizontalSpacingDistance = devicePositionService.getPosition(DevicePositionCode.trayTubeHorizontalSpacingDistance).getDistance(); //托盘试管水平间距
@@ -93,6 +94,7 @@ public class LiquidAddCommand extends BaseCommandHandler {
                         solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂上升
                     }
                 }
+                solutionModuleService.liquidPumpMove(-backFlowDistance);//预充
                 transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint);//移动至加液位置
                 deviceStateService.getDeviceState().getSolutionModule().setPumping(false);//设置加液结束
             } finally {

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

@@ -2,9 +2,11 @@ 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.SystemConfigService;
 import com.iflytop.sgs.app.service.device.DeviceStateService;
 import com.iflytop.sgs.app.service.device.module.SolutionModuleService;
 import com.iflytop.sgs.common.annotation.CommandMapping;
+import com.iflytop.sgs.common.enums.SystemConfigCode;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -21,11 +23,14 @@ import java.util.concurrent.CompletableFuture;
 public class LiquidPreFillStopCommand extends BaseCommandHandler {
     private final SolutionModuleService solutionModuleService;
     private final DeviceStateService deviceStateService;
+    private final SystemConfigService systemConfigService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        Double backFlowDistance = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.back_flow_distance);//防低落距离
         return runAsync(() -> {
             solutionModuleService.liquidPumpStop(cmdDTO.getCommandId(), cmdDTO.getCommand());//停止预充
+            solutionModuleService.liquidPumpMove(-backFlowDistance);//预充
             solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂归0
             deviceStateService.getDeviceState().getSolutionModule().setPumping(false);//设置加液结束
         });

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

@@ -128,7 +128,7 @@ public class CraftsStepService {
             double addLiquidDistance = volume * scale;
             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 backFlowDistance=systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.back_flow_distance);//防低落距离
             /*获取参数结束*/
 
             log.info("工艺{},申请转运模组并等待", heatModuleCode);
@@ -179,6 +179,7 @@ public class CraftsStepService {
             solutionModuleService.liquidValveSwitchByChannel(channel);//电磁阀对应通道打开
             log.info("工艺{},预充", heatModuleCode);
             solutionModuleService.liquidPumpMove(preFillDistance);//预充
+            solutionModuleService.liquidPumpMove(-backFlowDistance);//预充
             log.info("工艺{},加液机械臂上升", heatModuleCode);
             solutionModuleService.solutionMotorMoveZero();//加液机械臂上升
             /*预充结束*/
@@ -219,6 +220,7 @@ public class CraftsStepService {
                     craftMonitorService.saveOrUpdate(craftMonitor);
                     /*工艺监控结束*/
                 }
+                solutionModuleService.liquidPumpMove(-backFlowDistance);//预充
             }
             /*结束加液*/
 
@@ -303,7 +305,7 @@ 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
-
+            Double backFlowDistance=systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.back_flow_distance);//防低落距离
             /*获取参数结束*/
 
             log.info("工艺{},申请转运模组并等待", heatModuleCode);
@@ -360,6 +362,7 @@ public class CraftsStepService {
                     log.info("工艺{},加液机械臂上升", heatModuleCode);
                     solutionModuleService.solutionMotorMoveZero();//加液机械臂上升
                 }
+                solutionModuleService.liquidPumpMove(-backFlowDistance);//预充
             }
 
             /*抽液结束*/
@@ -381,6 +384,7 @@ public class CraftsStepService {
             solutionModuleService.liquidValveSwitchByChannel(channel);//电磁阀对应通道打开
             log.info("工艺{},预充", heatModuleCode);
             solutionModuleService.liquidPumpMove(preFillDistance);//预充
+            solutionModuleService.liquidPumpMove(-backFlowDistance);//预充
             log.info("工艺{},加液机械臂上升", heatModuleCode);
             solutionModuleService.solutionMotorMoveZero();//加液机械臂上升
             /*预充结束*/
@@ -422,6 +426,7 @@ public class CraftsStepService {
                     craftMonitorService.saveOrUpdate(craftMonitor);
                     /*工艺监控结束*/
                 }
+                solutionModuleService.liquidPumpMove(-backFlowDistance);//预充
             }
             /*结束加液*/
 
@@ -547,6 +552,7 @@ public class CraftsStepService {
             Double preFillPosition = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownPreFillPositon).getPositon();//机械臂预充时下降距离
             Point3D heatArea1TrayClawPoint = devicePositionService.getPosition(DevicePositionCode.heatArea1TrayClawPoint).getPoint3D();
             Double liquidAreaPreFillPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaPreFillPoint).getPositon(); //预充时加液臂下降位置
+            Double backFlowDistance=systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.back_flow_distance);//防低落距离
             webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "机械臂移动至加热区", heatModuleTrayClawPoint3D));
             /*获取参数结束*/
 
@@ -636,6 +642,7 @@ public class CraftsStepService {
                     log.info("工艺{},加液模块上升至最高，移出试管", heatModuleCode);
                     solutionModuleService.solutionMotorMoveZero();//加液模块上升至最高，移出试管
                 }
+                solutionModuleService.liquidPumpMove(-backFlowDistance);//预充
                 log.info("工艺{},电磁阀废液通道打开", heatModuleCode);
                 Thread.sleep(1000);
                 /*抽*/

src/main/java/com/iflytop/sgs/common/enums/SystemConfigCode.java

@@ -10,7 +10,7 @@ public enum SystemConfigCode {
     water("水加液系数"),
     thick("浓硝酸加液系数"),
     thin("稀硝酸加液系数"),
-    back_flow_distance("稀硝酸加液系数"),
+    back_flow_distance("回吸放滴落距离"),
     pre_fill_distance("加液预充距离"),
     drain_distance("加液排空距离"),
     reduce_distance("过量抽液距离"),

src/main/resources/sql/init.sql

@@ -49,7 +49,7 @@ CREATE TABLE IF NOT EXISTS system_config
 INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (1, '水加液系数', 'water', '2', '2025-06-07 10:58:06.000', '2025-06-07 10:58:07.000');
 INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (2, '浓硝酸加液系数', 'thick', '2', '2025-05-28 13:30:45', '2025-05-28 13:30:45');
 INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (3, '稀硝酸加液系数', 'thin', '2', '2025-05-28 13:30:45', '2025-05-28 13:30:45');
-INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (4, '回吸放滴落距离', 'back_flow_distance', '0.5', '2025-05-28 13:30:45', '2025-05-28 13:30:45');
+INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (4, '回吸放滴落距离', 'back_flow_distance', '0.2', '2025-05-28 13:30:45', '2025-05-28 13:30:45');
 INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (5, '过量预充距离', 'pre_fill_distance', '20', '2025-05-28 13:30:45', '2025-05-28 13:30:45');
 INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (6, '过量排空距离', 'drain_distance', '20', '2025-05-28 13:30:45', '2025-05-28 13:30:45');
 INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (7, '过量抽液距离', 'number_reduce', '10', '2025-05-28 13:30:45', '2025-05-28 13:30:45');