试管架任务检测高低试管时不应该取第一个试管，而是取第一个存在的试管

src/main/java/com/dreamworks/boditech/driver/task/TaskTestTubeRackPrepare.java

@@ -62,6 +62,7 @@ public class TaskTestTubeRackPrepare extends TaskBase {
         this.testTubeRackFeed();
 
         // 02. 检查试管有无
+        boolean hasTestTube = false;
         this.testTubeExistsStatus = new boolean[10];
         int tubeDistance = this.device.getLocationByName("testTubeRackTubeDistance");
         int existsCheckStartPos = this.device.getLocationByName("testTubeRackExistsCheckStart");
@@ -69,6 +70,14 @@ public class TaskTestTubeRackPrepare extends TaskBase {
             this.testTubeMoveMotor.moveTo(existsCheckStartPos + i * tubeDistance);
             Integer isExists = this.testTubeMovement.readIO(ActModuleTestTubeRackMovement.IO_TEST_TUBE_EXISTS);
             this.testTubeExistsStatus[i] = Objects.equals(this.device.getIOValueByName("testTubeRackTubeExistsYes"), isExists);
+            hasTestTube = hasTestTube || this.testTubeExistsStatus[i];
+        }
+        if ( !hasTestTube ) {
+            this.testService.regularTaskCancel(this.mdbTask);
+            this.appendTestTasksToExecutor(executor);
+            TaskBatchTubeExit exitTask = new TaskBatchTubeExit();
+            executor.appendTask(exitTask);
+            return ;
         }
 
         // 03. 试管架类型检测
@@ -168,7 +177,7 @@ public class TaskTestTubeRackPrepare extends TaskBase {
 
     // 试管架类型检测
     private MdbTestTube testTubeRackTypeDetect() {
-        if ( !this.mdbTask.tubeType.isEmpty() ) {
+        if ( !this.mdbTask.tubeType.isEmpty() ) { // @TODO : 这里不对，还是需要对全血试管架进行检查的 ~~~
             return this.testService.testTubeFindByKey(this.mdbTask.tubeType);
         }
 
@@ -180,7 +189,20 @@ public class TaskTestTubeRackPrepare extends TaskBase {
             ActMotor testTubeCapClipMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_CAP_CLIP_MOTOR);
             ActMotor testTubeShakeMoveMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_MOVE_MOTOR);
 
-            this.testTubeMoveMotor.moveTo("testTubeRackTubeSamplingStart");
+            // 移动到一个试管的位置
+            int firstTubeIndex = -1;
+            for (int i = 0; i<10; i++ ) {
+                if ( this.testTubeExistsStatus[i] ) {
+                    firstTubeIndex = i;
+                    break ;
+                }
+            }
+            Integer samplingStartPos = device.getLocationByName("testTubeRackTubeSamplingStart");
+            Integer samplingDistance = device.getLocationByName("testTubeRackTubeSamplingDistance");
+            int firstTubePos = samplingStartPos + samplingDistance * firstTubeIndex;
+            this.testTubeMoveMotor.moveTo(firstTubePos);
+
+            // 检查高低试管
             testTubeCapClipMotor.moveTo("shakeTestTubeCapClipOpen");
             testTubeShakeMoveMotor.moveTo("shakeTestTubeMoveCapClip");
             testTubeCapClipMotor.moveTo("shakeTestTubeCapClipClose");