diff --git a/.env.pre b/.env.pre
index c9a9f19..a59f795 100644
--- a/.env.pre
+++ b/.env.pre
@@ -2,6 +2,6 @@
 
 FT_NODE_ENV=pre
 
-FT_WS_URL=ws://127.0.0.1:8080/ws
-FT_PROXY=http://192.168.1.140
-FT_API_BASE=/api
\ No newline at end of file
+FT_WS_URL=ws://192.168.8.108:8080/ws
+FT_PROXY=http://192.168.8.108
+FT_API_BASE=http://192.168.8.108:8080/api
\ No newline at end of file
diff --git a/src/components/check/index.vue b/src/components/check/index.vue
index b8e8985..55f54ee 100644
--- a/src/components/check/index.vue
+++ b/src/components/check/index.vue
@@ -15,7 +15,7 @@ const props = defineProps({
   checking: Boolean,
   type: String,
 })
-const emits = defineEmits(['update:checking'])
+defineEmits(['update:checking'])
 const homeStore = useHomeStore()
 const visible = ref(props.checking)
 const chemicalList = ref<Container.ContainerItem[]>([])
@@ -187,10 +187,8 @@ const gantry_origin = async (motor: 'x' | 'y' | 'z') => {
 
   const params = {
     commandId: currentCommandId,
-    command: 'gantry_origin',
-    params: {
-      [motor]: true,
-    },
+    command: `gantry_${motor}_origin`,
+    params: {},
   }
   await homeStore.sendControl(params)
 }
@@ -236,18 +234,18 @@ const onComplete = () => {
   })
 }
 
-const cancel = () => {
-  emits('update:checking', false)
-  visible.value = false
-}
+// const cancel = () => {
+//   emits('update:checking', false)
+//   visible.value = false
+// }
 </script>
 
 <template>
   <FtDialog v-model="visible" title="设备初始化" width="50%">
     <div v-loading="loading" class="check-main">
-      <div v-if="type !== 'cancel'">
-        <span style="color: red">所有电机回原点后才可操作</span>
-      </div>
+      <!--      <div v-if="type !== 'cancel'"> -->
+      <!--        <span style="color: red">所有电机回原点后才可操作</span> -->
+      <!--      </div> -->
       <div class="check-status">
         <h3>名称</h3>
         <h3>是否在原点</h3>
@@ -268,9 +266,12 @@ const cancel = () => {
           </el-icon>
         </div>
         <div v-if="!item.isOrign" style="text-align: center;">
-          <el-link type="primary" @click="resetOrign(item)">
+          <!--          <el-link type="primary" @click="resetOrign(item)"> -->
+          <!--            回原点 -->
+          <!--          </el-link> -->
+          <ft-button type="primary" :click-handle="() => resetOrign(item)">
             回原点
-          </el-link>
+          </ft-button>
         </div>
       </div>
       <!-- <div class="check-status">
@@ -289,11 +290,11 @@ const cancel = () => {
       </div> -->
     </div>
     <template #footer>
-      <FtButton v-if="type === 'cancel'" @click="cancel">
-        取消
-      </FtButton>
-      <FtButton v-if="selfStateComplete" @click="onComplete">
-        自检完成
+      <!--      <FtButton v-if="type === 'cancel'" @click="cancel"> -->
+      <!--        取消 -->
+      <!--      </FtButton> -->
+      <FtButton :disabled="!selfStateComplete" :click-handle="onComplete">
+        关闭
       </FtButton>
     </template>
   </FtDialog>
diff --git a/src/components/home/AddLiquid/index.vue b/src/components/home/AddLiquid/index.vue
index aee54a2..dbc2f1e 100644
--- a/src/components/home/AddLiquid/index.vue
+++ b/src/components/home/AddLiquid/index.vue
@@ -29,7 +29,7 @@ const receiveMessage = (data: Socket.cmdData) => {
 }
 
 const form = ref<{
-  tubeNum: number
+  tubeNum: string
   solutionId: number
   volume: number
 }>({})
@@ -47,10 +47,10 @@ const rules = {
   ],
 }
 
-const addList = ref<{ tubeNum: number, solutionList: { solutionId: number, volume: number }[] }[]>([])
+const addList = ref<{ tubeNum: string, solutionList: { solutionId: number, volume: number }[] }[]>([])
 
 const mergeAddList = () => {
-  const map = new Map<number, { solutionId: number, volume: number }[]>()
+  const map = new Map<string, { solutionId: number, volume: number }[]>()
 
   addList.value.forEach((item) => {
     if (!map.has(item.tubeNum)) {
@@ -74,7 +74,7 @@ const addHandle = async () => {
       return
     }
     addList.value!.push({
-      tubeNum: form.value.tubeNum,
+      tubeNum: form.value.tubeNum.toString(),
       solutionList: [{
         solutionId: form.value.solutionId,
         volume: form.value.volume,
@@ -113,6 +113,24 @@ const getSols = async () => {
   const res = await getSolsList()
   solsList.value = res.list
 }
+
+const mousedownHandle = async (e: Event) => {
+  let event
+  if ('touches' in e) {
+    event = (e.touches as TouchList)[0]
+  }
+  else {
+    event = e
+  }
+  if (event.target!.classList!.contains('tube-inner')) {
+    const num = event.target!.getAttribute('index')
+    activeTube.value[Number(num) - 1] = !activeTube.value[Number(num) - 1]
+    form.value.tubeNum = activeTube.value.map((item, index) => index + 1).filter(item => activeTube.value[item - 1])
+    console.log(form.value.tubeNum)
+  }
+}
+
+const activeTube = ref(Array.from({ length: 16 }).fill(false))
 </script>
 
 <template>
@@ -121,9 +139,12 @@ const getSols = async () => {
       <el-col :span="12">
         <el-form ref="formRef" :model="form" :rules="rules" label-width="auto">
           <el-form-item label="选择试管" prop="tubeNum">
-            <el-select v-model="form.tubeNum" placeholder="请选择试管">
-              <el-option v-for="item in 16" :key="item" :label="`试管${item}`" :value="item" />
-            </el-select>
+            <!--            <el-select v-model="form.tubeNum" placeholder="请选择试管"> -->
+            <!--              <el-option v-for="item in 16" :key="item" :label="`试管${item}`" :value="item" /> -->
+            <!--            </el-select> -->
+            <div class="tube-item" @click.prevent="mousedownHandle" @touch.prevent="mousedownHandle">
+              <span v-for="item in 16" :key="item" class="tube-inner" :class="{ 'tube-inner-active': activeTube[item - 1] }" :index="item" />
+            </div>
           </el-form-item>
           <el-form-item label="选择溶液" prop="solutionId">
             <el-select v-model="form.solutionId" placeholder="请选择溶液">
@@ -150,7 +171,9 @@ const getSols = async () => {
         <template v-if="addList.length">
           <el-tag v-for="(item, key) in addList" :key>
             <div>
-              <span>试管{{ item.tubeNum }}</span>
+              <span>试管[</span>
+              <span>{{ item.tubeNum }}</span>
+              <span>]</span>
               <span>-</span>
               <span>{{ solsList.find(i => i.id === item.solutionList[0].solutionId)!.name }}</span>
               <span>添加{{ item.solutionList[0].volume }}ml</span>
@@ -172,7 +195,7 @@ const getSols = async () => {
   margin-right: 5px;
 }
 .el-row {
-  height: 200px;
+  height: 320px;
   .el-col {
     height: 100%;
     overflow: auto;
@@ -187,4 +210,35 @@ const getSols = async () => {
     }
   }
 }
+.tube-item {
+  padding: 5px;
+  background: #384D5D;
+  border-radius: 10px;
+  display: grid;
+  grid-template-columns: repeat(4, 1fr);
+  grid-template-rows: repeat(4, 1fr);
+  grid-gap: 5px;
+  position: relative;
+  .tube-disable {
+    position: absolute;
+    width: 100%;
+    height: 100%;
+    top: 0;
+    left: 0;
+    background: rgba(255,255,255,0.9);
+    border-radius: 9px;
+  }
+  .tube-inner {
+    display: inline-block;
+    width: 25px;
+    height: 25px;
+    border-radius: 50%;
+    background: #fff;
+    margin: 2px;
+    transition: background 0.5s;
+  }
+  .tube-inner-active {
+    background: #26D574;
+  }
+}
 </style>
diff --git a/src/components/home/Tube/index.vue b/src/components/home/Tube/index.vue
index eab4a60..8c8ac34 100644
--- a/src/components/home/Tube/index.vue
+++ b/src/components/home/Tube/index.vue
@@ -57,11 +57,11 @@ const hearInfo = computed(() => {
 })
 
 const craft = computed(() => {
-  return systemStore.systemStatus.tray.find(item => item.heatModuleId === props.data.moduleCode)?.crafts
+  return systemStore.systemStatus.tray?.find(item => item.heatModuleId === props.data.moduleCode)?.crafts
 })
 
 const tray = computed(() => {
-  return systemStore.systemStatus.tray.find(item => item.heatModuleId === props.data.moduleCode)
+  return systemStore.systemStatus.tray?.find(item => item.heatModuleId === props.data.moduleCode)
 })
 
 const setTemperature = () => {
@@ -86,25 +86,6 @@ const stopCraftHandle = async () => {
   })
 }
 
-const tubes = [
-  { tubeNum: 13 },
-  { tubeNum: 14 },
-  { tubeNum: 15 },
-  { tubeNum: 16 },
-  { tubeNum: 9 },
-  { tubeNum: 10 },
-  { tubeNum: 11 },
-  { tubeNum: 12 },
-  { tubeNum: 5 },
-  { tubeNum: 6 },
-  { tubeNum: 7 },
-  { tubeNum: 8 },
-  { tubeNum: 1 },
-  { tubeNum: 2 },
-  { tubeNum: 3 },
-  { tubeNum: 4 },
-]
-
 defineExpose({
   activeTubeBox,
 })
@@ -151,7 +132,7 @@ defineExpose({
     </div>
     <div class="tube-item" @click.prevent="mousedownHandle" @touch.prevent="mousedownHandle">
       <div v-if="data.trayStatus === 0" class="tube-disable" />
-      <span v-for="item in tubes" :key="item.tubeNum" class="tube-inner" :class="{ 'tube-inner-active': tray?.tubes.find(tu => tu.tubeNum === item.tubeNum)?.exists }" :index="item.tubeNum" />
+      <span v-for="item in 16" :key="item" class="tube-inner" :class="{ 'tube-inner-active': tray?.tubes.find(tu => tu.tubeNum === item)?.exists }" :index="item" />
     </div>
     <div v-if="data.targetTemperature" class="temperature-box" @click="setTemperature">
       <span>
diff --git a/src/layouts/default.vue b/src/layouts/default.vue
index deacecd..25c6052 100644
--- a/src/layouts/default.vue
+++ b/src/layouts/default.vue
@@ -2,7 +2,6 @@
 import Check from 'components/check/index.vue'
 import Exit from 'components/exit/index.vue'
 import Stop from 'components/home/Stop/index.vue'
-import { ElMessageBox } from 'element-plus'
 import { useActivateDebug } from 'hooks/useActivateDebug'
 import { isClose } from 'libs/socket'
 import { formatDateTime } from 'libs/utils'
@@ -23,8 +22,9 @@ const timeInterval = setInterval(() => {
 }, 1000)
 
 onMounted(() => {
-  // 是否自检
-  onSelfTest()
+  if (!systemStore.systemStatus.selfTest) {
+    isCheck.value = true
+  }
 })
 
 onUnmounted(() => {
@@ -38,19 +38,6 @@ const onExitHandle = () => {
 }
 
 const isCheck = ref(false)
-const onSelfTest = () => {
-  ElMessageBox.confirm(
-    '请确认是否进行设备自检?',
-    '设备自检',
-    {
-      confirmButtonText: '自检',
-      cancelButtonText: '取消',
-      type: 'warning',
-    },
-  ).then(() => {
-    isCheck.value = true
-  })
-}
 </script>
 
 <template>
diff --git a/src/libs/utils.ts b/src/libs/utils.ts
index 7977a64..9fa517f 100644
--- a/src/libs/utils.ts
+++ b/src/libs/utils.ts
@@ -44,6 +44,12 @@ export const cmdNameMap = {
   tray_down: '降下托盘',
   shake_start: '开始摇匀',
   shake_stop: '停止摇匀',
+  dual_robot_joint_origin: '加液机械臂回原点',
+  gantry_x_origin: '机械臂x轴回原点',
+  gantry_y_origin: '机械臂y轴回原点',
+  gantry_z_origin: '机械臂z轴回原点',
+  cap_lifting_origin: '拍子电机回原点',
+  tray_lifting_origin: '加热区托盘电机回原点',
 }
 
 export const generateColors = (count: number): string[] => {
diff --git a/src/stores/systemStore.ts b/src/stores/systemStore.ts
index 9e2e14a..ac31342 100644
--- a/src/stores/systemStore.ts
+++ b/src/stores/systemStore.ts
@@ -8,7 +8,7 @@ export const useSystemStore = defineStore('system', {
       selfTest: true,
       emergencyStop: false,
       door: {
-        status: false,
+        open: false,
       },
       gantryArm: {
         idle: true,
diff --git a/src/views/home/index.vue b/src/views/home/index.vue
index ca8e386..0cac45d 100644
--- a/src/views/home/index.vue
+++ b/src/views/home/index.vue
@@ -1,6 +1,5 @@
 <script setup lang="ts">
 import { startCraft } from 'apis/crafts'
-import { trayIn, trayOut } from 'apis/home'
 import AddLiquid from 'components/home/AddLiquid/index.vue'
 import SelectCraft from 'components/home/SelectCraft/index.vue'
 import SetTemperature from 'components/home/SetTemperature/index.vue'
@@ -71,12 +70,23 @@ const setTemperature = (id: string) => {
 }
 
 const addLiquidVisible = ref(false)
-const addLiquid = () => {
-  if (!systemStore.systemStatus.solutionModule.trayStatus) {
-    FtMessage.warning('加液区无托盘')
-    return
-  }
+const addLiquid = async () => {
+  await ElMessageBox.confirm(
+    '请确认加液区是否有托盘?',
+    '提示',
+    {
+      confirmButtonText: '确认',
+      cancelButtonText: '取消',
+      showClose: false,
+      closeOnClickModal: false,
+      type: 'warning',
+    },
+  )
   addLiquidVisible.value = true
+  // if (!systemStore.systemStatus.solutionModule.trayStatus) {
+  //   FtMessage.warning('加液区无托盘')
+  //   return
+  // }
 }
 
 const door_open = async () => {
@@ -91,18 +101,6 @@ const door_open = async () => {
     params: { },
   }
   await homeStore.sendControl(params)
-  await ElMessageBox.confirm(
-    '请确认是否取下托盘?',
-    '提示',
-    {
-      confirmButtonText: '确认',
-      cancelButtonText: '取消',
-      showClose: false,
-      closeOnClickModal: false,
-      type: 'warning',
-    },
-  )
-  await trayOut()
 }
 
 const door_close = async () => {
@@ -117,8 +115,20 @@ const door_close = async () => {
     params: { },
   }
   await homeStore.sendControl(params)
+}
+
+const move_to_heat_area = async () => {
+  // if (systemStore.systemStatus.solutionModule.trayStatus === 0) {
+  //   FtMessage.warning('加液区无托盘')
+  //   return
+  // }
+  const selectedHeatAreas = homeStore.heatAreaList.filter(item => item.selected)
+  if (!selectedHeatAreas.length || selectedHeatAreas.length > 1) {
+    FtMessage.warning('请选择一个加热区')
+    return
+  }
   await ElMessageBox.confirm(
-    '请确认是否放入托盘?',
+    '请确认加液区是否有托盘?',
     '提示',
     {
       confirmButtonText: '确认',
@@ -128,19 +138,6 @@ const door_close = async () => {
       type: 'warning',
     },
   )
-  await trayIn()
-}
-
-const move_to_heat_area = async () => {
-  if (systemStore.systemStatus.solutionModule.trayStatus === 0) {
-    FtMessage.warning('加液区无托盘')
-    return
-  }
-  const selectedHeatAreas = homeStore.heatAreaList.filter(item => item.selected)
-  if (!selectedHeatAreas.length || selectedHeatAreas.length > 1) {
-    FtMessage.warning('请选择一个加热区')
-    return
-  }
 
   currentCommandId = Date.now().toString()
   const params = {
@@ -159,10 +156,21 @@ const move_to_solution_area = async () => {
     FtMessage.warning('请选择一个加热区')
     return
   }
-  if (systemStore.systemStatus.solutionModule.trayStatus === 1) {
-    FtMessage.warning('加液区有托盘')
-    return
-  }
+  await ElMessageBox.confirm(
+    '请确认加液区无托盘?',
+    '提示',
+    {
+      confirmButtonText: '确认',
+      cancelButtonText: '取消',
+      showClose: false,
+      closeOnClickModal: false,
+      type: 'warning',
+    },
+  )
+  // if (systemStore.systemStatus.solutionModule.trayStatus === 1) {
+  //   FtMessage.warning('加液区有托盘')
+  //   return
+  // }
   currentCommandId = Date.now().toString()
   const params = {
     commandId: currentCommandId,