From 055068b69337a12b678a97e4dbabfe2d7361db35 Mon Sep 17 00:00:00 2001
From: sige <sige@sige.com>
Date: Tue, 6 Feb 2024 17:28:20 +0800
Subject: [PATCH] ~~

---
 .../my/graphiteDigesterBg/diframe/DiCommand.java   |  1 +
 .../my/graphiteDigesterBg/diframe/DiDeviceIO.java  |  1 +
 .../diframe/DiDeviceIOManager.java                 |  7 +++
 .../diframe/actuator/DiActMotor.java               | 25 ++++++++-
 .../my/graphiteDigesterBg/move/MoveLiquidAdd.java  | 11 +++-
 ...MoveMoveTubeRackFromHeatPlateToLiquidPlate.java | 16 ++++--
 ...MoveMoveTubeRackFromLiquidPlateToHeatPlate.java | 16 ++++--
 .../move/MoveTubeToErrorRackSlot.java              | 21 ++++++++
 .../resource/ResHeatingTubeRackSlot.java           |  4 +-
 .../my/graphiteDigesterBg/task/TaskHeating.java    |  9 +++-
 .../task/TaskSampleMoveToHeatPlate.java            | 32 ++++++++++++
 .../task/TaskSampleMoveToLiquidPlate.java          | 22 ++++++++
 .../my/graphiteDigesterBg/task/TaskStartReset.java | 11 ++--
 .../task/TaskTubeMoveToErrorSlot.java              | 21 ++++++--
 src/src/main/resources/application.yml             |  2 +-
 src/src/main/resources/device.yml                  | 59 ++++++++++++++++++----
 src/web/src/pages/main/contents/Operation.vue      |  2 +
 .../src/pages/main/contents/OperationCamera.vue    |  6 +++
 .../main/contents/OperationSampleTakeShot.vue      | 45 +++++++++++++++++
 19 files changed, 278 insertions(+), 33 deletions(-)
 create mode 100644 src/src/main/java/com/my/graphiteDigesterBg/task/TaskSampleMoveToHeatPlate.java
 create mode 100644 src/src/main/java/com/my/graphiteDigesterBg/task/TaskSampleMoveToLiquidPlate.java
 create mode 100644 src/web/src/pages/main/contents/OperationSampleTakeShot.vue

diff --git a/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiCommand.java b/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiCommand.java
index 62b6501..f1258d0 100644
--- a/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiCommand.java
+++ b/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiCommand.java
@@ -5,6 +5,7 @@ public enum DiCommand {
     MODULE_SET_REG("module_set_reg", 0x0105),
     MODULE_GET_REG("module_get_reg", 0x0106),
     MODULE_READ_IO("module_readio", 0x0107),
+    MODULE_WRITE_IO("module_writeio", 0x0108),
     MODULE_ENABLE("module_enable", 0x0114),
     MOTOR_EASY_MOVE_BY("motor_easy_move_by", 0x0212),
     MOTOR_EASY_MOVE_TO("motor_easy_move_to", 0x0213),
diff --git a/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiDeviceIO.java b/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiDeviceIO.java
index b5d15e2..49e12e5 100644
--- a/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiDeviceIO.java
+++ b/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiDeviceIO.java
@@ -3,4 +3,5 @@ public class DiDeviceIO {
     protected String key;
     protected Integer mid;
     protected Integer index;
+    protected String type;
 }
diff --git a/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiDeviceIOManager.java b/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiDeviceIOManager.java
index 8024f89..19e368e 100644
--- a/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiDeviceIOManager.java
+++ b/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiDeviceIOManager.java
@@ -31,6 +31,7 @@ public class DiDeviceIOManager {
             io.key = (String)item.get("key");
             io.mid = (Integer)item.get("mid");
             io.index = (Integer)item.get("index");
+            io.type = (String)item.get("type");
             this.ios.put(io.key, io);
         }
     }
@@ -43,4 +44,10 @@ public class DiDeviceIOManager {
         value = (value >> io.index) & 0x01;
         return value;
     }
+
+    // set io value
+    public void setValue( String key, Integer value ) {
+        DiDeviceIO io = this.ios.get(key);
+        this.device.call(DiCommand.MODULE_WRITE_IO, io.mid, io.index, value);
+    }
 }
diff --git a/src/src/main/java/com/my/graphiteDigesterBg/diframe/actuator/DiActMotor.java b/src/src/main/java/com/my/graphiteDigesterBg/diframe/actuator/DiActMotor.java
index 0808cba..438abf7 100644
--- a/src/src/main/java/com/my/graphiteDigesterBg/diframe/actuator/DiActMotor.java
+++ b/src/src/main/java/com/my/graphiteDigesterBg/diframe/actuator/DiActMotor.java
@@ -9,9 +9,9 @@ public class DiActMotor extends DiActuatorBase {
     // one circle pulse denominator
     protected Integer oneCirclePulseDenominator;
     // default velocity
-    protected Integer defaultVelocity;
+    public Integer defaultVelocity;
     // default acc
-    protected Integer defaultAcc;
+    public Integer defaultAcc;
     // default dec
     protected Integer defaultDec;
     // run to zero speed
@@ -68,6 +68,27 @@ public class DiActMotor extends DiActuatorBase {
         this.activeConfig();
     }
 
+    // set velocity
+    public void setVelocity( Integer velocity ) {
+        this.log("setVelocity({})", velocity);
+        this.call(DiCommand.MODULE_SET_REG, 1054, velocity);
+        this.activeConfig();
+    }
+
+    // set acc
+    public void setAcc( Integer acc ) {
+        this.log("setAcc({})", acc);
+        this.call(DiCommand.MODULE_SET_REG, 1055, acc);
+        this.activeConfig();
+    }
+
+    // set dec
+    public void setDec( Integer dec ) {
+        this.log("setDec({})", dec);
+        this.call(DiCommand.MODULE_SET_REG, 1056, dec);
+        this.activeConfig();
+    }
+
     // dump register
     public void dumpReg() {
         this.log("Reg @{} => {}", this.key, this.type, this.name, 1051, this.getRegValue(1051));
diff --git a/src/src/main/java/com/my/graphiteDigesterBg/move/MoveLiquidAdd.java b/src/src/main/java/com/my/graphiteDigesterBg/move/MoveLiquidAdd.java
index 3623fe4..875e3b3 100644
--- a/src/src/main/java/com/my/graphiteDigesterBg/move/MoveLiquidAdd.java
+++ b/src/src/main/java/com/my/graphiteDigesterBg/move/MoveLiquidAdd.java
@@ -41,11 +41,18 @@ public class MoveLiquidAdd extends DiTaskMoveBase {
 
         liquidMotor.moveTo("LiquidArmStandby");
 
-        // 加液盘摇匀
+        // 摇匀
+        liquidPlateMotor.moveTo(0);
+        liquidPlateMotor.setVelocity(300);
+        liquidPlateMotor.setAcc(10);
         for ( int i=0; i<this.shakeTimes; i++ ) {
-            liquidPlateMotor.moveTo(200);
+            liquidPlateMotor.moveTo(300);
             liquidPlateMotor.moveTo(0);
+
         }
+        liquidPlateMotor.setVelocity(liquidPlateMotor.defaultVelocity);
+        liquidPlateMotor.setAcc(liquidPlateMotor.defaultAcc);
+
         liquidMotor.moveTo("LiquidArmStandby");
     }
 }
diff --git a/src/src/main/java/com/my/graphiteDigesterBg/move/MoveMoveTubeRackFromHeatPlateToLiquidPlate.java b/src/src/main/java/com/my/graphiteDigesterBg/move/MoveMoveTubeRackFromHeatPlateToLiquidPlate.java
index d28da8d..afebb7e 100644
--- a/src/src/main/java/com/my/graphiteDigesterBg/move/MoveMoveTubeRackFromHeatPlateToLiquidPlate.java
+++ b/src/src/main/java/com/my/graphiteDigesterBg/move/MoveMoveTubeRackFromHeatPlateToLiquidPlate.java
@@ -3,6 +3,8 @@ import com.my.graphiteDigesterBg.MyDevice;
 import com.my.graphiteDigesterBg.diframe.DiTaskMoveBase;
 import com.my.graphiteDigesterBg.diframe.actuator.DiActMotor;
 import com.my.graphiteDigesterBg.diframe.actuator.DiActServo;
+import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlotManager;
+
 public class MoveMoveTubeRackFromHeatPlateToLiquidPlate extends DiTaskMoveBase {
     // slot index
     public Integer slotIndex;
@@ -16,11 +18,13 @@ public class MoveMoveTubeRackFromHeatPlateToLiquidPlate extends DiTaskMoveBase {
         var transferClipServo = this.getActuator(MyDevice.ACT_TRANSFER_CLIP_SERVO, DiActServo.class);
         var liquidPlateMotor = this.getActuator(MyDevice.ACT_LIQUID_PLATE_MOTOR, DiActMotor.class);
 
+        String key = "HeatingPlateMotorSlotCover_" + this.slotIndex;
+        DiActServo slotCoverServo = this.getActuator(key, DiActServo.class);
+
         // 加热盘转盘移动到取放架位置
         heatPlateMotor.moveTo("HeatPlateSlot", this.slotIndex);
         // 打开试管架盖
-        // @TODO : 这里没配置设备，暂时注释掉 ~~~
-//        slot.coverOpen();
+        slotCoverServo.moveTo("HeatPlateSlotCoverOpen", this.slotIndex);
         // 搬运上升到顶部
         transUdMotor.moveTo("TransUdMotorTop");
         // 搬运移动到加热取架位置
@@ -42,12 +46,16 @@ public class MoveMoveTubeRackFromHeatPlateToLiquidPlate extends DiTaskMoveBase {
         // 搬运上升到顶部
         transUdMotor.moveTo("TransUdMotorTop");
         // 关闭试管架盖
-        // @TODO : 这里没配置设备，暂时注释掉 ~~~
-//        slot.coverClose();
+        slotCoverServo.moveTo("HeatPlateSlotCoverClose", this.slotIndex);
         // 搬运移动到就绪位置
         transLrMotor.moveTo("TransLrMotorStandby");
         // 加热盘移动到就绪位置
         heatPlateMotor.moveTo("HeatPlateStandby");
         liquidPlateMotor.moveTo("LiquidPlateStandby");
+
+        // 更新试管架位置
+        var slotMan = this.getResourceManager(ResHeatingTubeRackSlotManager.class);
+        var slot = slotMan.getSlotByIndex(this.slotIndex);
+        slot.rackPosition = "LIQUID_PLATE";
     }
 }
diff --git a/src/src/main/java/com/my/graphiteDigesterBg/move/MoveMoveTubeRackFromLiquidPlateToHeatPlate.java b/src/src/main/java/com/my/graphiteDigesterBg/move/MoveMoveTubeRackFromLiquidPlateToHeatPlate.java
index 4166d49..1f62285 100644
--- a/src/src/main/java/com/my/graphiteDigesterBg/move/MoveMoveTubeRackFromLiquidPlateToHeatPlate.java
+++ b/src/src/main/java/com/my/graphiteDigesterBg/move/MoveMoveTubeRackFromLiquidPlateToHeatPlate.java
@@ -3,6 +3,8 @@ import com.my.graphiteDigesterBg.MyDevice;
 import com.my.graphiteDigesterBg.diframe.DiTaskMoveBase;
 import com.my.graphiteDigesterBg.diframe.actuator.DiActMotor;
 import com.my.graphiteDigesterBg.diframe.actuator.DiActServo;
+import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlotManager;
+
 public class MoveMoveTubeRackFromLiquidPlateToHeatPlate extends DiTaskMoveBase {
     // slot index
     public Integer slotIndex;
@@ -15,6 +17,9 @@ public class MoveMoveTubeRackFromLiquidPlateToHeatPlate extends DiTaskMoveBase {
         DiActMotor transUdMotor = this.getActuator(MyDevice.ACT_TRANSFER_UD_MOTOR, DiActMotor.class);
         DiActMotor liquidPlateMotor = this.getActuator(MyDevice.ACT_LIQUID_PLATE_MOTOR, DiActMotor.class);
 
+        String key = "HeatingPlateMotorSlotCover_" + this.slotIndex;
+        DiActServo slotCoverServo = this.getActuator(key, DiActServo.class);
+
         // 加液转盘移动到取架位置
         liquidPlateMotor.moveTo("LiquidPlatePlaceTubeRack");
         // 搬运移动到加液取放架位置
@@ -30,8 +35,7 @@ public class MoveMoveTubeRackFromLiquidPlateToHeatPlate extends DiTaskMoveBase {
         heatPlateMotor.moveTo("HeatPlateSlot", this.slotIndex);
 
         // 打开试管架盖
-        // @TODO : 这里没配置设备，暂时注释掉 ~~~
-//        slot.coverOpen();
+        slotCoverServo.moveTo("HeatPlateSlotCoverOpen", this.slotIndex);
 
         // 搬运移动到加热盘取放位置
         transLrMotor.moveTo("TransLrMotorHeatPlateSlot");
@@ -45,10 +49,14 @@ public class MoveMoveTubeRackFromLiquidPlateToHeatPlate extends DiTaskMoveBase {
         transLrMotor.moveTo("TransLrMotorStandby");
 
         // 试管架盖关闭
-        // @TODO : 这里没配置设备，暂时注释掉 ~~~
-//        slot.coverClose();
+        slotCoverServo.moveTo("HeatPlateSlotCoverClose", this.slotIndex);
 
         heatPlateMotor.moveTo("HeatPlateStandby");
         liquidPlateMotor.moveTo("LiquidPlateStandby");
+
+        // 更新试管架位置
+        var slotMan = this.getResourceManager(ResHeatingTubeRackSlotManager.class);
+        var slot = slotMan.getSlotByIndex(this.slotIndex);
+        slot.rackPosition = "HEAT_PLATE";
     }
 }
diff --git a/src/src/main/java/com/my/graphiteDigesterBg/move/MoveTubeToErrorRackSlot.java b/src/src/main/java/com/my/graphiteDigesterBg/move/MoveTubeToErrorRackSlot.java
index dd0905b..d03c4ef 100644
--- a/src/src/main/java/com/my/graphiteDigesterBg/move/MoveTubeToErrorRackSlot.java
+++ b/src/src/main/java/com/my/graphiteDigesterBg/move/MoveTubeToErrorRackSlot.java
@@ -19,6 +19,9 @@ public class MoveTubeToErrorRackSlot extends DiTaskMoveBase {
         var heatPlateMotor = this.getActuator(MyDevice.ACT_HEAT_PLATE_MOTOR, DiActMotor.class);
         var transferClipServo = this.getActuator(MyDevice.ACT_TRANSFER_CLIP_SERVO, DiActServo.class);
 
+        String srcSlotKey = "HeatingPlateMotorSlotCover_" + this.srcSlotIndex;
+        DiActServo srcSlotCoverServo = this.getActuator(srcSlotKey, DiActServo.class);
+
         // 升降移动到顶部
         transUdMotor.moveTo("TransUdMotorTop");
 
@@ -27,6 +30,9 @@ public class MoveTubeToErrorRackSlot extends DiTaskMoveBase {
         Integer heatPlateSlotTubeOffset = heatPlateMotor.getLocationValue("HeatPlateSlotTubeOffset", this.srcTubeIndex);
         heatPlateMotor.moveTo(heatPlateSlotLocation + heatPlateSlotTubeOffset);
 
+        // 打开试管架盖
+        srcSlotCoverServo.moveTo("HeatPlateSlotCoverOpen", this.srcSlotIndex);
+
         // 搬运左右移动到试管位置
         Integer transLrMotorHeatPlateSlotLocation = transLrMotor.getLocationValue("TransLrMotorHeatPlateSlot");
         Integer transLrMotorTubeOffset = transLrMotor.getLocationValue("TransLrMotorTubeOffset", this.srcTubeIndex);
@@ -47,14 +53,23 @@ public class MoveTubeToErrorRackSlot extends DiTaskMoveBase {
         // 搬运左右移动就绪位置
         transLrMotor.moveTo("TransLrMotorStandby");
 
+        // 试管架盖关闭
+        srcSlotCoverServo.moveTo("HeatPlateSlotCoverClose", this.srcSlotIndex);
+
         // 错误准备
         var slotMan = this.getResourceManager(ResHeatingTubeRackSlotManager.class);
         var errorSlot = slotMan.getErrorSlot();
+        String errSlotKey = "HeatingPlateMotorSlotCover_" + errorSlot.index;
+        DiActServo errSlotCoverServo = this.getActuator(errSlotKey, DiActServo.class);
+
         // 加热盘移动到试管位置
         Integer errorHeatPlateSlotLocation = heatPlateMotor.getLocationValue("HeatPlateSlot", errorSlot.index);
         Integer errorHeatPlateSlotTubeOffset = heatPlateMotor.getLocationValue("HeatPlateSlotTubeOffset", errorSlot.index);
         heatPlateMotor.moveTo(errorHeatPlateSlotLocation + errorHeatPlateSlotTubeOffset);
 
+        // 打开试管架盖
+        errSlotCoverServo.moveTo("HeatPlateSlotCoverOpen", errorSlot.index);
+
         // 搬运左右移动到试管位置
         transLrMotorTubeOffset = transLrMotor.getLocationValue("TransLrMotorTubeOffset", this.errorTubeIndex);
         transLrMotor.moveTo(transLrMotorHeatPlateSlotLocation + transLrMotorTubeOffset);
@@ -73,5 +88,11 @@ public class MoveTubeToErrorRackSlot extends DiTaskMoveBase {
 
         // 搬运左右移动就绪位置
         transLrMotor.moveTo("TransLrMotorStandby");
+
+        // 试管架盖关闭
+        errSlotCoverServo.moveTo("HeatPlateSlotCoverClose", errorSlot.index);
+
+        // 加热盘移动到就绪位置
+        heatPlateMotor.moveTo("HeatPlateStandby");
     }
 }
diff --git a/src/src/main/java/com/my/graphiteDigesterBg/resource/ResHeatingTubeRackSlot.java b/src/src/main/java/com/my/graphiteDigesterBg/resource/ResHeatingTubeRackSlot.java
index c62a878..deffbc8 100644
--- a/src/src/main/java/com/my/graphiteDigesterBg/resource/ResHeatingTubeRackSlot.java
+++ b/src/src/main/java/com/my/graphiteDigesterBg/resource/ResHeatingTubeRackSlot.java
@@ -28,10 +28,12 @@ public class ResHeatingTubeRackSlot {
     public String digestionName;
     // is error slot
     public Boolean isErrorSlot;
+    // rack status
+    public String rackPosition;
     // is slot locked
     private Boolean isLocked;
     // is heating
-    private Boolean isHeating;
+    public Boolean isHeating;
     // manager
     private final ResHeatingTubeRackSlotManager manager;
     // tube status list
diff --git a/src/src/main/java/com/my/graphiteDigesterBg/task/TaskHeating.java b/src/src/main/java/com/my/graphiteDigesterBg/task/TaskHeating.java
index aa27911..0c00fe4 100644
--- a/src/src/main/java/com/my/graphiteDigesterBg/task/TaskHeating.java
+++ b/src/src/main/java/com/my/graphiteDigesterBg/task/TaskHeating.java
@@ -25,12 +25,17 @@ public class TaskHeating extends DiTaskBase {
         slot.destTemperature = this.temperature;
         slot.heatingDuration = this.duration * 60;
         slot.heatingStartedAt = (int)(System.currentTimeMillis()/1000);
-        slot.heatingOn();
+
+        slot.isHeating = true;
+        String heaterKey = "HeatPlateSlotHeater" + this.slotIndex;
+        this.getDevice().getIO().setValue(heaterKey, 1);
+
         this.setStatus(DiTask.TaskStatus.WAITING);
         TimerTask timerTask = new TimerTask() {
             @Override
             public void run() {
-                slot.heatingOff();
+                TaskHeating.this.getDevice().getIO().setValue(heaterKey, 0);
+                slot.isHeating = false;
                 TaskHeating.this.setStatus(TaskStatus.FINISHED);
             }
         };
diff --git a/src/src/main/java/com/my/graphiteDigesterBg/task/TaskSampleMoveToHeatPlate.java b/src/src/main/java/com/my/graphiteDigesterBg/task/TaskSampleMoveToHeatPlate.java
new file mode 100644
index 0000000..85b15cf
--- /dev/null
+++ b/src/src/main/java/com/my/graphiteDigesterBg/task/TaskSampleMoveToHeatPlate.java
@@ -0,0 +1,32 @@
+package com.my.graphiteDigesterBg.task;
+import com.my.graphiteDigesterBg.diframe.DiTaskBase;
+import com.my.graphiteDigesterBg.diframe.Task;
+import com.my.graphiteDigesterBg.move.MoveMoveTubeRackFromLiquidPlateToHeatPlate;
+import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlotManager;
+
+@Task(name="SampleMoveToHeatPlate")
+public class TaskSampleMoveToHeatPlate extends DiTaskBase {
+    @Override
+    public void run() {
+        this.setStatus(TaskStatus.RUNNING);
+
+        Integer slotIndex = null;
+        var slotMan = this.getResourceManager(ResHeatingTubeRackSlotManager.class);
+        for ( var slot : slotMan.getSlots() ) {
+            if ( slot.rackPosition.equals("LIQUID_PLATE") ) {
+                slotIndex = slot.index;
+                break;
+            }
+        }
+        if ( slotIndex == null ) {
+            throw new RuntimeException("liquid plate slot not found");
+        }
+
+        var move = new MoveMoveTubeRackFromLiquidPlateToHeatPlate();
+        move.setDevice(this.getDevice());
+        move.slotIndex = slotIndex;
+        move.run();
+
+        this.setStatus(TaskStatus.FINISHED);
+    }
+}
diff --git a/src/src/main/java/com/my/graphiteDigesterBg/task/TaskSampleMoveToLiquidPlate.java b/src/src/main/java/com/my/graphiteDigesterBg/task/TaskSampleMoveToLiquidPlate.java
new file mode 100644
index 0000000..86a8727
--- /dev/null
+++ b/src/src/main/java/com/my/graphiteDigesterBg/task/TaskSampleMoveToLiquidPlate.java
@@ -0,0 +1,22 @@
+package com.my.graphiteDigesterBg.task;
+import com.my.graphiteDigesterBg.MyDevice;
+import com.my.graphiteDigesterBg.diframe.DiTaskBase;
+import com.my.graphiteDigesterBg.diframe.Task;
+import com.my.graphiteDigesterBg.move.MoveMoveTubeRackFromHeatPlateToLiquidPlate;
+@Task(name="SampleMoveToLiquidPlate")
+public class TaskSampleMoveToLiquidPlate extends DiTaskBase {
+    // slot index
+    public Integer slotIndex;
+
+    @Override
+    public void run() {
+        this.setStatus(TaskStatus.RUNNING);
+
+        var move = new MoveMoveTubeRackFromHeatPlateToLiquidPlate();
+        move.setDevice(this.getDevice());
+        move.slotIndex = this.slotIndex;
+        move.run();
+
+        this.setStatus(TaskStatus.FINISHED);
+    }
+}
diff --git a/src/src/main/java/com/my/graphiteDigesterBg/task/TaskStartReset.java b/src/src/main/java/com/my/graphiteDigesterBg/task/TaskStartReset.java
index 3ba0e6c..4de8f99 100644
--- a/src/src/main/java/com/my/graphiteDigesterBg/task/TaskStartReset.java
+++ b/src/src/main/java/com/my/graphiteDigesterBg/task/TaskStartReset.java
@@ -29,9 +29,6 @@ public class TaskStartReset extends DiTaskBase {
         liquidMotor.reset();
         liquidMotor.moveTo("LiquidArmStandby");
 
-        // @TODO : 加热盘卡位初始化
-        LOG.error("@TODO : 加热盘卡位初始化");
-
         // @TODO: 这里要先手动移动到一个安全位置
         DiActMotor transUdMotor = this.getActuator(MyDevice.ACT_TRANSFER_UD_MOTOR, DiActMotor.class);
         transUdMotor.setEnable(true);
@@ -44,6 +41,14 @@ public class TaskStartReset extends DiTaskBase {
         transLrMotor.reset();
         transLrMotor.moveTo("TransLrMotorStandby");
 
+        // 初始化加热盘盖舵机
+        for ( int i=0; i<5; i++ ) {
+            String key = "HeatingPlateMotorSlotCover_" + i;
+            DiActServo heatSlotCoverServo = this.getActuator(key, DiActServo.class);
+            heatSlotCoverServo.setEnable(true);
+            heatSlotCoverServo.moveTo("HeatPlateSlotCoverClose", i);
+        }
+
         // 加液转盘
         DiActMotor liquidPlateMotor = this.getActuator(MyDevice.ACT_LIQUID_PLATE_MOTOR, DiActMotor.class);
         liquidPlateMotor.setEnable(true);
diff --git a/src/src/main/java/com/my/graphiteDigesterBg/task/TaskTubeMoveToErrorSlot.java b/src/src/main/java/com/my/graphiteDigesterBg/task/TaskTubeMoveToErrorSlot.java
index ce9f4cf..d8ddd4f 100644
--- a/src/src/main/java/com/my/graphiteDigesterBg/task/TaskTubeMoveToErrorSlot.java
+++ b/src/src/main/java/com/my/graphiteDigesterBg/task/TaskTubeMoveToErrorSlot.java
@@ -1,13 +1,12 @@
 package com.my.graphiteDigesterBg.task;
 import com.my.graphiteDigesterBg.diframe.DiTaskBase;
 import com.my.graphiteDigesterBg.diframe.Task;
+import com.my.graphiteDigesterBg.move.MoveMoveTubeRackFromLiquidPlateToHeatPlate;
 import com.my.graphiteDigesterBg.move.MoveTubeToErrorRackSlot;
 import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlotManager;
 import java.util.List;
 @Task(name="TubeMoveToErrorSlot")
 public class TaskTubeMoveToErrorSlot extends DiTaskBase {
-    // slot index
-    public Integer slotIndex;
     // tube index list
     private List<Integer> tubeIndexList;
 
@@ -17,6 +16,22 @@ public class TaskTubeMoveToErrorSlot extends DiTaskBase {
         var slotMan = this.getResourceManager(ResHeatingTubeRackSlotManager.class);
         var errorSlot = slotMan.getErrorSlot();
         var emptyTubeIndexList = errorSlot.allocEmptyTubeIndexes(this.tubeIndexList.size());
+        Integer slotIndex = null;
+        for ( var slot : slotMan.getSlots() ) {
+            if ( "LIQUID_PLATE".equals(slot.rackPosition) ) {
+                slotIndex = slot.index;
+                break;
+            }
+        }
+        if ( slotIndex == null ) {
+            throw new RuntimeException("liquid plate slot not found");
+        }
+
+        // move tube rack from liquid plate to heat plate
+        var move = new MoveMoveTubeRackFromLiquidPlateToHeatPlate();
+        move.setDevice(this.getDevice());
+        move.slotIndex = slotIndex;
+        move.run();
 
         for ( int i=0; i<this.tubeIndexList.size(); i++ ) {
             var tubeIndex = this.tubeIndexList.get(i);
@@ -24,7 +39,7 @@ public class TaskTubeMoveToErrorSlot extends DiTaskBase {
 
             var moveTubeToErrorRackSlot = new MoveTubeToErrorRackSlot();
             moveTubeToErrorRackSlot.setDevice(this.getDevice());
-            moveTubeToErrorRackSlot.srcSlotIndex = this.slotIndex;
+            moveTubeToErrorRackSlot.srcSlotIndex = slotIndex;
             moveTubeToErrorRackSlot.srcTubeIndex = tubeIndex;
             moveTubeToErrorRackSlot.errorTubeIndex = emptyTubeIndex;
             moveTubeToErrorRackSlot.run();
diff --git a/src/src/main/resources/application.yml b/src/src/main/resources/application.yml
index 98364c5..e2c85a1 100644
--- a/src/src/main/resources/application.yml
+++ b/src/src/main/resources/application.yml
@@ -6,4 +6,4 @@ spring:
     encoding: utf-8
 
 app :
-  errorSlotIndex : 4
\ No newline at end of file
+  errorSlotIndex : 1
\ No newline at end of file
diff --git a/src/src/main/resources/device.yml b/src/src/main/resources/device.yml
index 8890625..18e2249 100644
--- a/src/src/main/resources/device.yml
+++ b/src/src/main/resources/device.yml
@@ -3,9 +3,9 @@ connection :
   path : COM3
   baudRate : 921600
   frameTimeout : 100
-  callTimeout : 5000
+  callTimeout : 1000
   mode : binary # text | hex | binary
-  commandLogEnable : true
+  commandLogEnable : false
 #  class : com.my.graphiteDigesterBg.diframe.connection.DiConWebsocket
 #  uri : ws://127.0.0.1:8899/device
 #  mode : hex
@@ -73,7 +73,7 @@ actuators :
     defaultVelocity : 300
     defaultAcc : 100
     defaultDec : 100
-    runToZeroSpeed : 50
+    runToZeroSpeed : 100
     runToZeroDec : 100
     lookZeroEdgeSpeed : 25
     lookZeroEdgeDec : 100
@@ -345,16 +345,53 @@ actuators :
     stepMotorIHold: 0
     stepMotorIRun: 4
 
+  - name: 加热盘试管架盖舵机 - 0
+    key: HeatingPlateMotorSlotCover_0
+    mid: 83
+    type: Servo
+    defaultVelocity: 200
+    defaultTorque: 300
+
+  - name: 加热盘试管架盖舵机 - 1
+    key: HeatingPlateMotorSlotCover_1
+    mid: 82
+    type: Servo
+    defaultVelocity: 200
+    defaultTorque: 300
+
+  - name: 加热盘试管架盖舵机 - 2
+    key: HeatingPlateMotorSlotCover_2
+    mid: 81
+    type: Servo
+    defaultVelocity: 200
+    defaultTorque: 300
+
+  - name: 加热盘试管架盖舵机 - 3
+    key: HeatingPlateMotorSlotCover_3
+    mid: 85
+    type: Servo
+    defaultVelocity: 200
+    defaultTorque: 300
+
+  - name: 加热盘试管架盖舵机 - 4
+    key: HeatingPlateMotorSlotCover_4
+    mid: 84
+    type: Servo
+    defaultVelocity: 200
+    defaultTorque: 300
+
 # device io
 io :
-  - {key: "AcidLiquidLevelSensor0", mid: 70, index: 0}
-  - {key: "AcidLiquidLevelSensor1", mid: 70, index: 1}
-  - {key: "AcidLiquidLevelSensor2", mid: 70, index: 2}
-  - {key: "AcidLiquidLevelSensor3", mid: 70, index: 3}
-  - {key: "AcidLiquidLevelSensor4", mid: 70, index: 4}
-  - {key: "AcidLiquidLevelSensor5", mid: 70, index: 5}
-  - {key: "AcidLiquidLevelSensor6", mid: 70, index: 6}
-  - {key: "AcidLiquidLevelSensor7", mid: 70, index: 7}
+  - {key: "AcidLiquidLevelSensor0", mid: 70, index: 0, type : "output"}
+  - {key: "AcidLiquidLevelSensor1", mid: 70, index: 1, type : "output"}
+  - {key: "AcidLiquidLevelSensor2", mid: 70, index: 2, type : "output"}
+  - {key: "AcidLiquidLevelSensor3", mid: 70, index: 3, type : "output"}
+  - {key: "AcidLiquidLevelSensor4", mid: 70, index: 4, type : "output"}
+  - {key: "AcidLiquidLevelSensor5", mid: 70, index: 5, type : "output"}
+  - {key: "AcidLiquidLevelSensor6", mid: 70, index: 6, type : "output"}
+  - {key: "AcidLiquidLevelSensor7", mid: 70, index: 7, type : "output"}
+  - {key: "HeatPlateSlotHeater0",   mid: 70, index: 2, type : "input"}
+  - {key: "Condenser",              mid: 70, index: 5, type : "input"}
 
 # device registers
 registers :
diff --git a/src/web/src/pages/main/contents/Operation.vue b/src/web/src/pages/main/contents/Operation.vue
index 14e6aa0..6702416 100644
--- a/src/web/src/pages/main/contents/Operation.vue
+++ b/src/web/src/pages/main/contents/Operation.vue
@@ -40,6 +40,7 @@
                 <a-button @click="actionPresetSetup"><SettingOutlined /></a-button>
                 <a-button class="ml-1" @click="actionAcidAdd"><ExperimentOutlined /></a-button>
                 <a-button class="ml-1" @click="actionHeating"><FireOutlined /></a-button>
+                <operation-sample-take-shot />
               </a-col>
               <a-col :span="11" class="text-right">
                 <operation-sample-add />
@@ -181,6 +182,7 @@ import { onMounted, ref, onUnmounted } from 'vue';
 import ApiClient from '@/utils/ApiClient.js';
 import OperationCamera from './OperationCamera.vue';
 import OperationSampleAdd from './OperationSampleAdd.vue';
+import OperationSampleTakeShot from './OperationSampleTakeShot.vue';
 /** @var {Object} */
 const sampleTakeout = ref({enable:false,slotIndex:0});
 /** @var {Object} */
diff --git a/src/web/src/pages/main/contents/OperationCamera.vue b/src/web/src/pages/main/contents/OperationCamera.vue
index 603acf7..f7b4b79 100644
--- a/src/web/src/pages/main/contents/OperationCamera.vue
+++ b/src/web/src/pages/main/contents/OperationCamera.vue
@@ -10,6 +10,7 @@
     <div class="mt-3 flex flex-row justify-between">
       <div>
         <a-button @click="actionTakeShot"><CameraOutlined /></a-button>
+        <a-button class="ml-1" @click="actionTakeShotCancel"><EyeInvisibleOutlined /></a-button>
       </div>
       <div>
         <a-button @click="actionDoorOpen"><SplitCellsOutlined /></a-button>
@@ -112,6 +113,11 @@ async function actionTubeMoveToErrorSlot() {
       tubeIndexList: errorTubes.value
     });
 }
+
+// 移动样本到加热板
+async function actionTakeShotCancel() {
+    await client.taskAppend('SampleMoveToHeatPlate');
+}
 </script>
 <style>
 .camera {background: linear-gradient(180deg, rgba(5, 10, 39, 0.5) 0%, rgba(4, 10, 52, 0.5) 97%);backdrop-filter: blur(194px);}
diff --git a/src/web/src/pages/main/contents/OperationSampleTakeShot.vue b/src/web/src/pages/main/contents/OperationSampleTakeShot.vue
new file mode 100644
index 0000000..1904685
--- /dev/null
+++ b/src/web/src/pages/main/contents/OperationSampleTakeShot.vue
@@ -0,0 +1,45 @@
+<template>
+  <a-button class="ml-1" @click="actionSampleTakeShot"><eye-outlined /></a-button>
+  
+  <!-- 取出位置弹框 -->
+  <a-modal v-if="enable" v-model:open="enable" title="观察样本" @ok="actionOk" @cancel="actionCancel" ok-text="确认" cancel-text="取消">
+    <a-form :label-col="{span:4}" :wrapper-col="{span:20}" label-align="left" class="py-5">
+      <a-form-item label="位置">
+        <a-radio-group v-model:value="slotIndex" button-style="solid">
+          <a-radio-button value="0">A-1</a-radio-button>
+          <a-radio-button value="1">A-2</a-radio-button>
+          <a-radio-button value="2">A-3</a-radio-button>
+          <a-radio-button value="3">A-4</a-radio-button>
+          <a-radio-button value="4">A-5</a-radio-button>
+        </a-radio-group>
+      </a-form-item>
+    </a-form>
+  </a-modal>
+</template>
+<script setup>
+import ApiClient from '@/utils/ApiClient';
+import { ref } from 'vue';
+/** @var {Boolean} */
+const enable = ref(false);
+/** @var {Number} */
+const slotIndex = ref(0);
+
+// 样本拍照
+function actionSampleTakeShot() {
+    enable.value = true;
+}
+
+// 确认
+async function actionOk() {
+    enable.value = false;
+    let client = ApiClient.getClient();
+    await client.taskAppend('SampleMoveToLiquidPlate',{
+      slotIndex : slotIndex.value * 1,
+    });
+}
+
+// 取消
+function actionCancel() {
+    enable.value = false;
+}
+</script>
\ No newline at end of file