update

src/main/java/a8k/service/appctrl/CondtionMgrService.java

@@ -4,8 +4,10 @@ import a8k.hardware.A8kCanBusService;
 import a8k.hardware.type.a8kcanprotocol.IOId;
 import a8k.service.appstate.GStateService;
 import a8k.service.appstate.IncubationPlateMgrService;
+import a8k.service.appstate.OptScanModuleStateMgrService;
 import a8k.service.appstate.type.Tube;
 import a8k.service.appstate.type.state.A8kWorkState;
+import a8k.service.appstate.type.state.IncubationSubTankState;
 import a8k.service.appstate.type.state.TubeHolderState;
 import a8k.service.appstate.type.state.TubeState;
 import a8k.type.exception.AppException;
@@ -28,6 +30,9 @@ public class CondtionMgrService {
 	@Resource
 	IncubationPlateMgrService incubationPlateMgrService;
 
+	@Resource
+	OptScanModuleStateMgrService optScanModuleStateMgrService;
+
 	Boolean getTubeholderEnterPosPPS() { //入料通道是否为空
 		try {
 			return canBus.getIOState(IOId.InfeedPPS);
@@ -42,7 +47,7 @@ public class CondtionMgrService {
 	}
 
 	public Boolean isCanDoAction() {
-		return gstate.mainFlowCtrlState.workState.equals(A8kWorkState.WORKING) && !gstate.mainFlowCtrlState.errorFlag  && !gstate.mainFlowCtrlState.workStateChangeFlag;
+		return gstate.mainFlowCtrlState.workState.equals(A8kWorkState.WORKING) && !gstate.mainFlowCtrlState.errorFlag && !gstate.mainFlowCtrlState.workStateChangeFlag;
 	}
 
 
@@ -54,6 +59,10 @@ public class CondtionMgrService {
 		return gstate.getCurProcessingTube() == null || gstate.getCurProcessingTube().state.equals(TubeState.PROCESS_COMPLETE);
 	}
 
+	public Boolean isOptModuleEmpty() {
+		return optScanModuleStateMgrService.isEmpty();
+	}
+
 	public Boolean isTimeToEnterNewTubeHolder() {
 		Boolean cond0 = isCanDoAction();
 		//试管架处于空闲状态
@@ -127,4 +136,16 @@ public class CondtionMgrService {
 		Boolean cond3 = incubationPlateMgrService.isHasEnoughIncubationIDLEPos(tube.projIndex.size());
 		return cond1 && cond2 && cond3;
 	}
+
+	public Boolean isHasSomeErrorPlatesToBeProcessed() {
+		return incubationPlateMgrService.isHasSomeErrorPlate();
+	}
+
+	public Boolean isHasSomeErrorTubeToBeProcessed() {
+		Tube tube = gstate.getCurProcessingTube();
+		if (tube == null)
+			return false;
+		return gstate.getEmergencyTubePos().tube.state.equals(TubeState.ERROR);
+	}
+
 }

src/main/java/a8k/service/appctrl/MainFlowCtrlService.java

@@ -47,9 +47,6 @@ public class MainFlowCtrlService {
 
 		logger.info("className {}", DO_STOP.class.getName());
 		for (A8kActionStepType actionType : A8kActionStepType.values()) {
-			if (actionType.equals(A8kActionStepType.DO_CLEAR_ERROR)) {
-				continue;
-			}
 			A8kStepAction action = SpringBootBeanUtil.getBean(actionType.name(), A8kStepAction.class);
 			scheduler.regFn(action);
 		}
@@ -134,25 +131,21 @@ public class MainFlowCtrlService {
 
 	public void startWork() {
 		MainFlowCtrlState state = gstate.getMainFlowCtrlState();
-		scheduler.setClearErrorPendingFlag();
 		state.startActionPending = true;
 	}
 
 	public void stopWork() {
 		MainFlowCtrlState state = gstate.getMainFlowCtrlState();
-		scheduler.setClearErrorPendingFlag();
 		state.stopActionPending = true;
 	}
 
 	public void pauseWork() {
 		MainFlowCtrlState state = gstate.getMainFlowCtrlState();
-		scheduler.setClearErrorPendingFlag();
 		state.pauseActionPending = true;
 	}
 
 	public void continueWork() {
 		MainFlowCtrlState state = gstate.getMainFlowCtrlState();
-		scheduler.setClearErrorPendingFlag();
 		state.resumeActionPending = true;
 	}
 }

src/main/java/a8k/service/appctrl/action/base/A8kActionStepType.java

@@ -5,7 +5,6 @@ public enum A8kActionStepType {
 	DO_PAUSE,//暂停
 	DO_STOP, //停止
 	DO_RESUME,//恢复
-	DO_CLEAR_ERROR,//清除错误,特殊动作,无需注册成类型
 
 	//mainflow
 	SEQ1_ENTER_TUBEHOLDER_AND_SCAN, //入料并扫描
@@ -16,5 +15,15 @@ public enum A8kActionStepType {
 	SEQ6_POST_PROCESS,
 	SEQ7_EJECT_TUBEHOLDER, //弹出试管架
 
-	//
+	//incubate
+	PROCESS_INCUBATE_COMPLETED_PLATE,//处理孵育完成的板
+
+	//OPT
+	PLATE_OPT_SCAN,
+	PLATE_OPT_DROP,
+
+	//Error
+	DO_CLEAR_ERROR_BEFORE_WORK,//在启动前，清除错误
+	DO_PROCESS_ERROR_TUBE,
+	DO_PROCESS_ERROR_PLATE,
 }

src/main/java/a8k/service/appctrl/action/ctrl/DO_START.java

@@ -50,6 +50,6 @@ public class DO_START extends A8kStepAction {
 	}
 
 	@Override public List<A8kPublicResourceType> getResourceList() {
-		return List.of(A8kPublicResourceType.SampleTransferXMotor);
+		return List.of(A8kPublicResourceType.ShakeModule);
 	}
 }

src/main/java/a8k/service/appctrl/action/ctrl/DO_CLEAR_ERROR.java → src/main/java/a8k/service/appctrl/action/errorhandler/DO_CLEAR_ERROR_BEFORE_WORK.java

@@ -1,12 +1,18 @@
-package a8k.service.appctrl.action.ctrl;
+package a8k.service.appctrl.action.errorhandler;
 
+import a8k.OS;
+import a8k.service.appctrl.CondtionMgrService;
 import a8k.service.appctrl.action.base.A8kActionStepType;
 import a8k.service.appctrl.action.base.A8kStepAction;
 import a8k.service.appstate.GStateService;
+import a8k.service.appstate.IncubationPlateMgrService;
+import a8k.service.appstate.OptScanModuleStateMgrService;
 import a8k.service.appstate.resource.A8kPublicResourceType;
+import a8k.service.appstate.type.IncubationSubTank;
 import a8k.service.appstate.type.MainFlowCtrlState;
 import a8k.service.appstate.type.state.A8kWorkState;
-import a8k.service.devicedriver.ctrl.SampleScanTransportCtrl;
+import a8k.service.appstate.type.state.IncubationSubTankState;
+import a8k.service.appstate.type.state.TubeState;
 import a8k.type.exception.AppException;
 import jakarta.annotation.PostConstruct;
 import jakarta.annotation.Resource;
@@ -17,23 +23,31 @@ import org.springframework.stereotype.Component;
 import java.util.List;
 
 @Component
-public class DO_CLEAR_ERROR extends A8kStepAction {
-	static Logger logger = LoggerFactory.getLogger(DO_CLEAR_ERROR.class);
+public class DO_CLEAR_ERROR_BEFORE_WORK extends A8kStepAction {
+	static Logger logger = LoggerFactory.getLogger(DO_CLEAR_ERROR_BEFORE_WORK.class);
 
-	DO_CLEAR_ERROR() {
-		super(A8kActionStepType.DO_PAUSE);
+	DO_CLEAR_ERROR_BEFORE_WORK() {
+		super(A8kActionStepType.DO_CLEAR_ERROR_BEFORE_WORK);
 	}
 
 	@Resource
-	GStateService gstate;
+	GStateService                gstate;
+	@Resource
+	CondtionMgrService           cms;
+	@Resource
+	IncubationPlateMgrService    incubationPlateMgrService;
+	@Resource
+	OptScanModuleStateMgrService optScanModuleStateMgrService;
 
 	MainFlowCtrlState mfcs;
 
+
 	@PostConstruct
 	void init() {
 		mfcs = gstate.mainFlowCtrlState;
 	}
 
+
 	@Override public void doaction() throws AppException {
 
 		//ProcessErrorBeforeContinue
@@ -53,6 +67,10 @@ public class DO_CLEAR_ERROR extends A8kStepAction {
 	}
 
 	@Override public List<A8kPublicResourceType> getResourceList() {
-		return List.of();
+		return List.of(
+				A8kPublicResourceType.IncubationPlateModule,
+				A8kPublicResourceType.OPTModule,
+				A8kPublicResourceType.PlatesBoxModule
+		);
 	}
 }

src/main/java/a8k/service/appctrl/action/errorhandler/DO_PROCESS_ERROR_PLATE.java

@@ -0,0 +1,82 @@
+package a8k.service.appctrl.action.errorhandler;
+
+import a8k.OS;
+import a8k.service.appctrl.CondtionMgrService;
+import a8k.service.appctrl.action.base.A8kActionStepType;
+import a8k.service.appctrl.action.base.A8kStepAction;
+import a8k.service.appstate.GStateService;
+import a8k.service.appstate.IncubationPlateMgrService;
+import a8k.service.appstate.OptScanModuleStateMgrService;
+import a8k.service.appstate.resource.A8kPublicResourceType;
+import a8k.service.appstate.type.IncubationSubTank;
+import a8k.service.appstate.type.MainFlowCtrlState;
+import a8k.service.appstate.type.state.A8kWorkState;
+import a8k.service.appstate.type.state.IncubationSubTankState;
+import a8k.type.exception.AppException;
+import jakarta.annotation.PostConstruct;
+import jakarta.annotation.Resource;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+/**
+ * 处理错误的孵育盘
+ */
+@Component
+public class DO_PROCESS_ERROR_PLATE extends A8kStepAction {
+	static Logger logger = LoggerFactory.getLogger(DO_PROCESS_ERROR_PLATE.class);
+
+	DO_PROCESS_ERROR_PLATE() {
+		super(A8kActionStepType.DO_PROCESS_ERROR_PLATE);
+	}
+
+	@Resource
+	GStateService             gstate;
+	@Resource
+	CondtionMgrService        cms;
+	@Resource
+	IncubationPlateMgrService incubationPlateMgrService;
+	@Resource
+	OptScanModuleStateMgrService optScanModuleStateMgrService;
+
+	MainFlowCtrlState mfcs;
+	@PostConstruct
+	void init() {
+		mfcs = gstate.mainFlowCtrlState;
+	}
+
+
+
+	@Override public void doaction() throws AppException {
+		//ProcessErrorBeforeContinue
+
+		while (true) {
+			IncubationSubTank errorTank = incubationPlateMgrService.getErrorPlate();
+			if (errorTank == null) {
+				break;
+			}
+			logger.info("处理错误板夹:{}", errorTank.pos);
+			//TODO:推出板夹到光学模组,同时丢弃板夹
+			logger.info("推出板夹到光学模组");
+			logger.info("丢弃板夹");
+			OS.forceSleep(3000);
+			//
+			optScanModuleStateMgrService.newPlateToOptScanPos(errorTank);
+			optScanModuleStateMgrService.dropPlate();
+			incubationPlateMgrService.setIncubationPlateState(errorTank.pos, IncubationSubTankState.EMPTY);
+		}
+	}
+
+	@Override public Boolean checkCondition() {
+		Boolean cond1 = cms.isCanDoAction();
+		Boolean cond2 = cms.isHasSomeErrorPlatesToBeProcessed();
+		Boolean cond3 = cms.isOptModuleEmpty();
+		return cond1 && cond2 && cond3;
+	}
+
+	@Override public List<A8kPublicResourceType> getResourceList() {
+		return List.of();
+	}
+}

src/main/java/a8k/service/appctrl/action/errorhandler/DO_PROCESS_ERROR_TUBE.java

@@ -0,0 +1,84 @@
+package a8k.service.appctrl.action.errorhandler;
+
+import a8k.OS;
+import a8k.service.appctrl.CondtionMgrService;
+import a8k.service.appctrl.action.base.A8kActionStepType;
+import a8k.service.appctrl.action.base.A8kStepAction;
+import a8k.service.appstate.GStateService;
+import a8k.service.appstate.IncubationPlateMgrService;
+import a8k.service.appstate.OptScanModuleStateMgrService;
+import a8k.service.appstate.TubeProcessStateMgrService;
+import a8k.service.appstate.resource.A8kPublicResourceType;
+import a8k.service.appstate.type.MainFlowCtrlState;
+import a8k.service.appstate.type.Tube;
+import a8k.service.appstate.type.state.A8kWorkState;
+import a8k.service.appstate.type.state.TubeState;
+import a8k.type.exception.AppException;
+import jakarta.annotation.PostConstruct;
+import jakarta.annotation.Resource;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+/**
+ * 处理错误的试管
+ */
+@Component
+public class DO_PROCESS_ERROR_TUBE extends A8kStepAction {
+	static Logger logger = LoggerFactory.getLogger(DO_PROCESS_ERROR_TUBE.class);
+
+	DO_PROCESS_ERROR_TUBE() {
+		super(A8kActionStepType.DO_PROCESS_ERROR_TUBE);
+	}
+
+	@Resource
+	GStateService                gstate;
+	@Resource
+	CondtionMgrService           cms;
+	@Resource
+	IncubationPlateMgrService    incubationPlateMgrService;
+	@Resource
+	OptScanModuleStateMgrService optScanModuleStateMgrService;
+	@Resource
+	TubeProcessStateMgrService   tubeProcessStateMgrService;
+
+
+	MainFlowCtrlState mfcs;
+
+	@PostConstruct
+	void init() {
+		mfcs = gstate.mainFlowCtrlState;
+	}
+
+
+	@Override public void doaction() throws AppException {
+		//ProcessErrorBeforeContinue
+
+		Tube tube = gstate.getCurProcessingTube();
+		assert tube != null;
+
+		logger.info("处理错误试管:{}", tube.sampleid);
+		logger.info("复位摇匀模组");
+		OS.forceSleep(4000);
+		//复位摇匀模组
+		logger.info("复位HBOT");
+		//复位HBOT
+		OS.forceSleep(4000);
+		tubeProcessStateMgrService.setCurTubeState(TubeState.PROCESS_COMPLETE);
+	}
+
+	@Override public Boolean checkCondition() {
+		Boolean cond1 = cms.isCanDoAction();
+		Boolean cond2 = cms.isHasSometubesToBeProcessed();
+		return cond1 && cond2;
+	}
+
+	@Override public List<A8kPublicResourceType> getResourceList() {
+		return List.of(
+				A8kPublicResourceType.ShakeModule,
+				A8kPublicResourceType.HBOT
+		);
+	}
+}

src/main/java/a8k/service/appctrl/action/incubate/PROCESS_INCUBATE_COMPLETED_PLATE.java

@@ -0,0 +1,82 @@
+package a8k.service.appctrl.action.incubate;
+
+import a8k.OS;
+import a8k.service.appctrl.CondtionMgrService;
+import a8k.service.appctrl.action.base.A8kActionStepType;
+import a8k.service.appctrl.action.base.A8kStepAction;
+import a8k.service.appstate.GStateService;
+import a8k.service.appstate.IncubationPlateMgrService;
+import a8k.service.appstate.OptScanModuleStateMgrService;
+import a8k.service.appstate.TubeProcessStateMgrService;
+import a8k.service.appstate.resource.A8kPublicResourceType;
+import a8k.service.appstate.type.IncubationSubTank;
+import a8k.service.appstate.type.MainFlowCtrlState;
+import a8k.service.appstate.type.Tube;
+import a8k.service.appstate.type.state.IncubationSubTankState;
+import a8k.service.appstate.type.state.TubeState;
+import a8k.type.exception.AppException;
+import jakarta.annotation.PostConstruct;
+import jakarta.annotation.Resource;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+/**
+ * 处理错误的试管
+ */
+@Component
+public class PROCESS_INCUBATE_COMPLETED_PLATE extends A8kStepAction {
+	static Logger logger = LoggerFactory.getLogger(PROCESS_INCUBATE_COMPLETED_PLATE.class);
+
+	PROCESS_INCUBATE_COMPLETED_PLATE() {
+		super(A8kActionStepType.PROCESS_INCUBATE_COMPLETED_PLATE);
+	}
+
+	@Resource
+	GStateService                gstate;
+	@Resource
+	CondtionMgrService           cms;
+	@Resource
+	IncubationPlateMgrService    incubationPlateMgrService;
+	@Resource
+	OptScanModuleStateMgrService optScanModuleStateMgrService;
+	@Resource
+	TubeProcessStateMgrService   tubeProcessStateMgrService;
+
+
+	MainFlowCtrlState mfcs;
+
+	@PostConstruct
+	void init() {
+		mfcs = gstate.mainFlowCtrlState;
+	}
+
+
+	@Override public void doaction() throws AppException {
+		IncubationSubTank tank = incubationPlateMgrService.getOneExpiredPlate();
+		if (tank == null) {
+			return;
+		}
+		logger.info("推出板夹到光学模组,{}", tank.pos);
+		OS.forceSleep(3000);
+
+		optScanModuleStateMgrService.newPlateToOptScanPos(tank);
+		incubationPlateMgrService.setIncubationPlateState(tank.pos, IncubationSubTankState.EMPTY);
+	}
+
+	@Override public Boolean checkCondition() {
+		Boolean cond1 = cms.isCanDoAction();
+		Boolean cond2 = incubationPlateMgrService.isHasExpiredPlate();
+		Boolean cond3 = optScanModuleStateMgrService.isEmpty();
+		return cond1 && cond2 && cond3;
+	}
+
+	@Override public List<A8kPublicResourceType> getResourceList() {
+		return List.of(
+				A8kPublicResourceType.OPTModule,
+				A8kPublicResourceType.IncubationPlateModule
+		);
+	}
+}

src/main/java/a8k/service/appctrl/action/mainflow/SEQ1_ENTER_TUBEHOLDER_AND_SCAN.java

@@ -4,15 +4,12 @@ import a8k.baseservice.appeventbus.AppEventBusService;
 import a8k.baseservice.appeventbus.appevent.AppWarningNotifyEvent;
 import a8k.hardware.A8kCanBusService;
 import a8k.hardware.type.a8kcanprotocol.A8kEcode;
-import a8k.hardware.type.a8kcanprotocol.IOId;
 import a8k.service.appctrl.CondtionMgrService;
-import a8k.service.appdata.AppSampleRecordMgrService;
 import a8k.service.appctrl.AppTubeSettingMgrService;
 import a8k.service.appctrl.action.base.A8kActionStepType;
 import a8k.service.appctrl.action.base.A8kStepAction;
 import a8k.service.appstate.GStateService;
 import a8k.service.appstate.TubeProcessContextMgrService;
-import a8k.service.appstate.type.MainFlowCtrlState;
 import a8k.service.appstate.resource.A8kPublicResourceType;
 import a8k.service.appstate.type.TubeHolder;
 import a8k.service.appstate.type.state.TubeHolderState;
@@ -22,7 +19,6 @@ import a8k.type.exception.AppException;
 import a8k.type.tube_setting.TubeHolderSetting;
 import a8k.type.type.A8kTubeHolderType;
 import a8k.type.type.BloodType;
-import jakarta.annotation.PostConstruct;
 import jakarta.annotation.Resource;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
@@ -224,7 +220,7 @@ public class SEQ1_ENTER_TUBEHOLDER_AND_SCAN extends A8kStepAction {
 	}
 
 	@Override public List<A8kPublicResourceType> getResourceList() {
-		return List.of(A8kPublicResourceType.SampleTransferXMotor);
+		return List.of(A8kPublicResourceType.ShakeModule);
 	}
 
 	//

src/main/java/a8k/service/appctrl/action/mainflow/SEQ2_SWITCH_TO_THE_NEXT_TUBE.java

@@ -101,6 +101,6 @@ public class SEQ2_SWITCH_TO_THE_NEXT_TUBE extends A8kStepAction {
 	}
 
 	@Override public List<A8kPublicResourceType> getResourceList() {
-		return List.of(A8kPublicResourceType.SampleTransferXMotor);
+		return List.of(A8kPublicResourceType.ShakeModule);
 	}
 }

src/main/java/a8k/service/appctrl/action/mainflow/SEQ4_PRE_PROCESS.java

@@ -9,7 +9,6 @@ import a8k.service.appctrl.action.base.A8kActionStepType;
 import a8k.service.appctrl.action.base.A8kStepAction;
 import a8k.service.appstate.*;
 import a8k.service.appstate.resource.A8kPublicResourceType;
-import a8k.service.appstate.type.MainFlowCtrlState;
 import a8k.service.appstate.type.Tube;
 import a8k.service.appstate.type.state.TubeState;
 import a8k.service.devicedriver.ctrl.HbotControlService;
@@ -211,8 +210,8 @@ public class SEQ4_PRE_PROCESS extends A8kStepAction {
 
 	@Override public List<A8kPublicResourceType> getResourceList() {
 		return List.of(
-				A8kPublicResourceType.IncubationPlateMotor,
-				A8kPublicResourceType.PlatesBoxMotor,
+				A8kPublicResourceType.IncubationPlateModule,
+				A8kPublicResourceType.PlatesBoxModule,
 				A8kPublicResourceType.HBOT,
 				A8kPublicResourceType.CurTubeProcessToken
 		);

src/main/java/a8k/service/appctrl/action/mainflow/SEQ5_PROCESS.java

@@ -67,7 +67,7 @@ public class SEQ5_PROCESS extends A8kStepAction {
 		Tube tube = gstate.getCurProcessingTube();
 		OS.forceSleep(3000);
 		tubeProcessStateMgrService.setCurTubeState(TubeState.PROCESSED);
-		incubationPlateMgrService.startIncubating(tube);
+		incubationPlateMgrService.startIncubating(tube, 60 * 2);
 		logger.info("pre process success");
 	}
 
@@ -78,7 +78,7 @@ public class SEQ5_PROCESS extends A8kStepAction {
 
 	@Override public List<A8kPublicResourceType> getResourceList() {
 		return List.of(
-				A8kPublicResourceType.IncubationPlateMotor,
+				A8kPublicResourceType.IncubationPlateModule,
 				A8kPublicResourceType.HBOT,
 				A8kPublicResourceType.CurTubeProcessToken
 		);

src/main/java/a8k/service/appctrl/action/mainflow/SEQ6_POST_PROCESS.java

@@ -10,9 +10,7 @@ import a8k.service.appstate.resource.A8kPublicResourceType;
 import a8k.service.appstate.type.MainFlowCtrlState;
 import a8k.service.appstate.type.Tube;
 import a8k.service.appstate.type.state.TubeState;
-import a8k.type.ecode.AppError;
 import a8k.type.exception.AppException;
-import a8k.utils.ZFnCall;
 import jakarta.annotation.PostConstruct;
 import jakarta.annotation.Resource;
 import org.slf4j.Logger;
@@ -20,7 +18,6 @@ import org.slf4j.LoggerFactory;
 import org.springframework.stereotype.Component;
 
 import java.util.List;
-import java.util.Objects;
 import java.util.concurrent.*;
 
 /**
@@ -76,8 +73,8 @@ public class SEQ6_POST_PROCESS extends A8kStepAction {
 
 	@Override public List<A8kPublicResourceType> getResourceList() {
 		return List.of(
-				A8kPublicResourceType.IncubationPlateMotor,
-				A8kPublicResourceType.PlatesBoxMotor,
+				A8kPublicResourceType.IncubationPlateModule,
+				A8kPublicResourceType.PlatesBoxModule,
 				A8kPublicResourceType.HBOT,
 				A8kPublicResourceType.CurTubeProcessToken
 		);

src/main/java/a8k/service/appctrl/action/mainflow/SEQ7_EJECT_TUBEHOLDER.java

@@ -6,7 +6,6 @@ import a8k.service.appctrl.action.base.A8kStepAction;
 import a8k.service.appstate.GStateService;
 import a8k.service.appstate.type.MainFlowCtrlState;
 import a8k.service.appstate.resource.A8kPublicResourceType;
-import a8k.service.appstate.type.state.A8kWorkState;
 import a8k.service.appstate.type.state.TubeHolderState;
 import a8k.service.devicedriver.ctrl.SampleScanTransportCtrl;
 import a8k.type.exception.AppException;
@@ -56,6 +55,6 @@ public class SEQ7_EJECT_TUBEHOLDER extends A8kStepAction {
 	}
 
 	@Override public List<A8kPublicResourceType> getResourceList() {
-		return List.of(A8kPublicResourceType.SampleTransferXMotor);
+		return List.of(A8kPublicResourceType.ShakeModule);
 	}
 }

src/main/java/a8k/service/appstate/IncubationPlateMgrService.java

@@ -11,6 +11,7 @@ import a8k.type.IncubatorPos;
 import jakarta.annotation.Resource;
 import org.springframework.stereotype.Component;
 
+import java.util.Date;
 import java.util.List;
 
 @Component
@@ -33,6 +34,55 @@ public class IncubationPlateMgrService {
 		return count >= num;
 	}
 
+	/**
+	 * 是否有错误的板夹
+	 * @return true 有错误的板夹
+	 */
+	synchronized public Boolean isHasSomeErrorPlate() {
+		var incubationState = gstate.getIncubationPlate();
+		var subtanks        = incubationState.subtanks;
+
+		for (IncubationSubTank subtank : subtanks) {
+			if (subtank.state.equals(IncubationSubTankState.ERROR)) {
+				return true;
+			}
+		}
+		return false;
+	}
+
+	synchronized public Boolean isHasExpiredPlate() {
+		var incubationState = gstate.getIncubationPlate();
+		var subtanks        = incubationState.subtanks;
+
+		for (IncubationSubTank subtank : subtanks) {
+			if (subtank.state.equals(IncubationSubTankState.INCUBATING)) {
+				var now = new Date();
+				var diff = now.getTime() - subtank.startIncubatedTime.getTime();
+				if (diff > subtank.incubatedTimeSec * 1000) {
+					return true;
+				}
+			}
+		}
+		return false;
+	}
+
+
+	synchronized public IncubationSubTank getOneExpiredPlate() {
+		var incubationState = gstate.getIncubationPlate();
+		var subtanks        = incubationState.subtanks;
+
+		for (IncubationSubTank subtank : subtanks) {
+			if (subtank.state.equals(IncubationSubTankState.INCUBATING)) {
+				var now = new Date();
+				var diff = now.getTime() - subtank.startIncubatedTime.getTime();
+				if (diff > subtank.incubatedTimeSec * 1000) {
+					return subtank;
+				}
+			}
+		}
+		return null;
+	}
+
 
 	synchronized public List<IncubatorPos> takeIncubationIDLEPos(Integer num) {
 		var incubationState = gstate.getIncubationPlate();
@@ -57,6 +107,11 @@ public class IncubationPlateMgrService {
 		return ret;
 	}
 
+	/**
+	 * 设置孵育板夹状态
+	 * @param pos 位置
+	 * @param state 状态
+	 */
 
 	synchronized public void setIncubationPlateState(IncubatorPos pos, IncubationSubTankState state) {
 		var incubationState = gstate.getIncubationPlate();
@@ -84,20 +139,22 @@ public class IncubationPlateMgrService {
 		for (ProjProcessContext context : tube.projProcessContexts) {
 			subtanks[context.incubatorPos.off].state             = IncubationSubTankState.WAITING_FOR_DROP;
 			subtanks[context.incubatorPos.off].projProcessContxt = context;
-			subtanks[context.incubatorPos.off].bloodType     = tube.bloodType;
-			subtanks[context.incubatorPos.off].sampleBarcode = tube.sampleBarcode;
-			subtanks[context.incubatorPos.off].userid        = tube.userid;
-			subtanks[context.incubatorPos.off].projIndex     = context.projIndex;
-			subtanks[context.incubatorPos.off].projName      = context.projName;
+			subtanks[context.incubatorPos.off].bloodType         = tube.bloodType;
+			subtanks[context.incubatorPos.off].sampleBarcode     = tube.sampleBarcode;
+			subtanks[context.incubatorPos.off].userid            = tube.userid;
+			subtanks[context.incubatorPos.off].projIndex         = context.projIndex;
+			subtanks[context.incubatorPos.off].projName          = context.projName;
 		}
 	}
 
-	synchronized public void startIncubating(Tube tube){
+	synchronized public void startIncubating(Tube tube, Integer incubatedTimeSec) {
 		var incubationState = gstate.getIncubationPlate();
 		var subtanks        = incubationState.subtanks;
 
 		for (ProjProcessContext context : tube.projProcessContexts) {
-			subtanks[context.incubatorPos.off].state             = IncubationSubTankState.INCUBATING;
+			subtanks[context.incubatorPos.off].state              = IncubationSubTankState.INCUBATING;
+			subtanks[context.incubatorPos.off].startIncubatedTime = new Date();
+			subtanks[context.incubatorPos.off].incubatedTimeSec      = incubatedTimeSec;
 		}
 
 	}
@@ -115,4 +172,16 @@ public class IncubationPlateMgrService {
 		}
 	}
 
+	synchronized public IncubationSubTank getErrorPlate() {
+		var incubationState = gstate.getIncubationPlate();
+		var subtanks        = incubationState.subtanks;
+
+		for (IncubationSubTank subtank : subtanks) {
+			if (subtank.state.equals(IncubationSubTankState.ERROR)) {
+				return subtank;
+			}
+		}
+		return null;
+	}
+
 }

src/main/java/a8k/service/appstate/OptScanModuleStateMgrService.java

@@ -0,0 +1,41 @@
+package a8k.service.appstate;
+
+import a8k.service.appstate.type.IncubationSubTank;
+import a8k.service.appstate.type.OptScanModule;
+import a8k.service.appstate.type.state.IncubationSubTankState;
+import a8k.service.appstate.type.state.OptScanModuleState;
+import jakarta.annotation.Resource;
+import org.springframework.stereotype.Component;
+
+@Component
+public class OptScanModuleStateMgrService {
+	@Resource
+	GStateService gstate;
+
+	synchronized public void newPlateToOptScanPos(IncubationSubTank tank) {
+		OptScanModule optScanModule = gstate.getOptScanModule();
+		optScanModule.state             = OptScanModuleState.PLATE_IS_READY;
+		optScanModule.isErrorPlate      = tank.state.equals(IncubationSubTankState.ERROR);
+		optScanModule.bloodType         = tank.bloodType;
+		optScanModule.sampleBarcode     = tank.sampleBarcode;
+		optScanModule.userid            = tank.userid;
+		optScanModule.projIndex         = tank.projIndex;
+		optScanModule.projProcessContxt = tank.projProcessContxt;
+	}
+
+	synchronized public void dropPlate() {
+		OptScanModule optScanModule = gstate.getOptScanModule();
+		optScanModule.state = OptScanModuleState.EMPTY;
+	}
+
+	synchronized public void startScanPlate() {
+		OptScanModule optScanModule = gstate.getOptScanModule();
+		optScanModule.state = OptScanModuleState.SCANNING;
+	}
+
+	synchronized public Boolean isEmpty() {
+		OptScanModule optScanModule = gstate.getOptScanModule();
+		return optScanModule.state.equals(OptScanModuleState.EMPTY);
+	}
+
+}

src/main/java/a8k/service/appstate/resource/A8kPublicResourceType.java

@@ -1,9 +1,10 @@
 package a8k.service.appstate.resource;
 
 public enum A8kPublicResourceType {
-	SampleTransferXMotor,//样本平移电机
-	IncubationPlateMotor,//孵育盘电机
-	PlatesBoxMotor,//板夹仓电机
+	ShakeModule,//样本平移电机
+	IncubationPlateModule,//孵育盘电机
+	OPTModule, //光学电机
+	PlatesBoxModule,//板夹仓电机
 	HBOT,//HBOT
 	CurTubeProcessToken,//当前管子处理令牌
 }

src/main/java/a8k/service/appstate/type/IncubationSubTank.java

@@ -26,7 +26,7 @@ public class IncubationSubTank {
 
 	//孵育时间
 	public Date    startIncubatedTime; //开始孵育时间
-	public Integer targetIncubatedTimeS; //目标孵育时间
+	public Integer incubatedTimeSec; //目标孵育时间
 
 	public A8kEcode error = A8kEcode.NoError;
 

src/main/java/a8k/service/appstate/type/OptScanModule.java

@@ -4,10 +4,12 @@ import a8k.service.appstate.type.state.OptScanModuleState;
 import a8k.type.type.BloodType;
 
 public class OptScanModule {
-	public OptScanModuleState state         = OptScanModuleState.IDLE; //模块状态
+	public OptScanModuleState state         = OptScanModuleState.EMPTY; //模块状态
+	public Boolean            isErrorPlate  = false; //是否是错误板
 	public BloodType          bloodType     = BloodType.WHOLE_BLOOD; //血液类型
 	public String             sampleBarcode = ""; //用于请求用户信息的条码ID
 	public String             userid        = "";   //用户输入的样本ID，不做逻辑，只做展示
 	public Integer            projIndex     = 0; //项目代码
+	public ProjProcessContext projProcessContxt;
 
 }

src/main/java/a8k/service/appstate/type/state/IncubationSubTankState.java

@@ -6,6 +6,5 @@ public enum IncubationSubTankState {
 	RESERVED,//预定
 	WAITING_FOR_DROP,//等待滴液
 	INCUBATING, //孵育中
-	INCUBATED,  //孵育完成
 	ERROR,//错误
 }

src/main/java/a8k/service/appstate/type/state/OptScanModuleState.java

@@ -1,6 +1,7 @@
 package a8k.service.appstate.type.state;
 
 public enum OptScanModuleState {
-	IDLE,
+	EMPTY,
+	PLATE_IS_READY,
 	SCANNING,
 }