From f2d85e6f22315534de71b5903994af1af05385f5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=8E=8B=E6=A2=A6=E8=BF=9C?= <1063331231@qq.com> Date: Thu, 29 May 2025 13:31:00 +0800 Subject: [PATCH] =?UTF-8?q?fix:=E9=A2=84=E5=85=85=E6=97=B6=E6=9C=BA?= =?UTF-8?q?=E6=A2=B0=E8=87=82=E7=A7=BB=E5=8A=A8=E5=88=B0=E5=8A=A0=E7=83=AD?= =?UTF-8?q?=E4=BD=8D1?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../com/iflytop/sgs/app/cmd/control/LiquidPreFillStartCommand.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidPreFillStartCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidPreFillStartCommand.java index 86f344e..154bfe5 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidPreFillStartCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidPreFillStartCommand.java @@ -44,15 +44,15 @@ public class LiquidPreFillStartCommand extends BaseCommandHandler { Solutions solutions = solutionsService.getById(solutionId);//数据库获取酸液信息 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 + Point3D heatArea1TrayClawPoint = devicePositionService.getPosition(DevicePositionCode.heatArea1TrayClawPoint).getPoint3D(); //加热区1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 deviceStateService.getDeviceState().getSolutionModule().setPumping(true);//设置正在加液 solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), valveStateCode);//电磁阀对应的酸液通道打开 + transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatArea1TrayClawPoint);//移动至加热位1 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.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