fix:预充时机械臂下降至预充点位

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

@@ -45,6 +45,7 @@ public class LiquidPreFillStartCommand extends BaseCommandHandler {
         Assert.notNull(solutions, () -> new AppException(ResultCode.OPERATION_NOT_ALLOWED));//检验参数
         ValveStateCode valveStateCode = ValveStateCode.valueOf(solutions.getCode());//获取对应的电磁阀通道
         Point3D liquidAreaTrayPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D(); //获取加液区上方点位
+        Double liquidAreaPreFillPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaPreFillPoint).getPositon(); //加液模块电机预充时下降进入试管抽取位置
         double position = devicePositionService.getPosition(DevicePositionCode.solutionPreFillDistance).getDistance();//溶液首次预充距离
         return runAsync(() -> {
             deviceStateService.getDeviceState().getSolutionModule().setIdle(true);//设置占用
@@ -52,7 +53,7 @@ public class LiquidPreFillStartCommand extends BaseCommandHandler {
             solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), valveStateCode);//电磁阀对应的酸液通道打开
             solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂上升
             transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint);//移动至加液位置
-            solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂下降至0点
+            solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(),liquidAreaPreFillPoint);//加液机械臂下降至至预充点位
             solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), position);//预充开始
             deviceStateService.getDeviceState().getSolutionModule().setIdle(false);//设置占用
             deviceStateService.getDeviceState().getSolutionModule().setPumping(false);//设置正在加液

src/main/java/com/iflytop/sgs/common/enums/data/DevicePositionCode.java

@@ -50,6 +50,10 @@ public enum DevicePositionCode {
      */
     solutionModuleMotorDownInTubeExtPositon(DevicePositionType.POSITION, "加液模块电机下降进入试管抽取位置"),
     /**
+     * 加液模块电机预充时下降进入试管抽取位置 30mm
+     * */
+    liquidAreaPreFillPoint(DevicePositionType.POSITION,"加液模块电机预充时下降进入试管抽取位置" ),
+    /**
      * 开门位置
      */
     doorOpenPosition(DevicePositionType.POSITION, "开门位置"),
@@ -82,8 +86,7 @@ public enum DevicePositionCode {
     /**
      * 加热区4托盘夹爪位置点
      */
-    heatArea4TrayClawPoint(DevicePositionType.POINT_3D, "加热区4托盘夹爪位置点"),
-    ;
+    heatArea4TrayClawPoint(DevicePositionType.POINT_3D, "加热区4托盘夹爪位置点");
     private final DevicePositionType type;
     private final String name;