update

src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ4_PRE_PROCESS.java

@@ -118,7 +118,7 @@ public class SEQ4_PRE_PROCESS extends A8kStepAction {
 			logger.info("是否高位试管:{}", isHighTube);
 			tubePreProcesCtrlService.takeTubeFromTubeholderToShakePos(isHighTube);
 			tubePreProcesCtrlService.shakeTube(45, shakeTimes);
-			tubePreProcesCtrlService.takeTubeCap(isHighTube);
+			tubePreProcesCtrlService.takeTubeCap();
 		} else {
 			logger.info("不是全血试管，不需要摇匀");
 		}

src/main/java/a8k/service/app/devicectrl/ctrlservice/TubePreProcesCtrlService.java

@@ -107,7 +107,7 @@ public class TubePreProcesCtrlService {
 		progress = PROGRESS.SHAKE_TUBE;
 	}
 
-	public void takeTubeCap(Boolean isHTube) throws AppException {
+	public void takeTubeCap() throws AppException {
 		log.info("取试管帽");
 		//Y移动到取试管帽位置
 		tubePreProcesModuleExDriver.YSVMoveToShakePos();
@@ -126,7 +126,7 @@ public class TubePreProcesCtrlService {
 
 	}
 
-	public void putbakTubeCapAndPutbakTubeToTubeHolder(Boolean isHTube) throws AppException {
+	public void putbakTubeCapAndPutbakTubeToTubeHolder() throws AppException {
 		//移动Y轴到方式管的位置
 		tubePreProcesModuleExDriver.YSVMoveToShakePos();
 		//		盖盖子
@@ -172,7 +172,7 @@ public class TubePreProcesCtrlService {
 			tubePreProcesModuleExDriver.moveToZeroQuick();
 			progress = PROGRESS.IDLE;
 		} else if (progress.equals(PROGRESS.TAKE_CAP)) {
-			putbakTubeCapAndPutbakTubeToTubeHolder(isHTube);
+			putbakTubeCapAndPutbakTubeToTubeHolder();
 			progress = PROGRESS.IDLE;
 			return;
 		} else if (progress.equals(PROGRESS.PUT_BAK_TUBE)) {

src/main/java/a8k/service/app/devicectrl/param/calibration/HbotSamplePosCalibration.java

@@ -4,7 +4,9 @@ package a8k.service.app.devicectrl.param.calibration;
 import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
 import a8k.extapi_controler.utils.ExtApiFn;
 import a8k.extapi_controler.utils.ExtApiTab;
+import a8k.service.app.devicectrl.ctrlservice.TubePreProcesCtrlService;
 import a8k.service.app.devicectrl.exdriver.HbotBaseMoveExDriver;
+import a8k.service.app.devicectrl.exdriver.MotorMoveZeroExDriver;
 import a8k.service.app.devicectrl.param.type.HbotSamplePos;
 import a8k.service.app.devicectrl.driver.HbotDriver;
 import a8k.service.app.devicectrl.driver.PipetteCtrlDriver;
@@ -38,6 +40,10 @@ public class HbotSamplePosCalibration {
 	TubePreProcesModuleExDriver tubePreProcesModuleExDriver;
 	@Resource
 	HbotBaseMoveExDriver        hbotBaseMoveExDriver;
+	@Resource
+	TubePreProcesCtrlService    tubePreProcesCtrlService;
+	@Resource
+	MotorMoveZeroExDriver       motorMoveZeroExDriver;
 
 
 	@Resource
@@ -45,6 +51,7 @@ public class HbotSamplePosCalibration {
 	@Resource
 	HbotSamplePosParamMgr hbotSamplePosParamMgr;
 
+
 	@Resource
 	StepMotorCtrlDriver stepMotorCtrlDriver;
 
@@ -77,8 +84,13 @@ public class HbotSamplePosCalibration {
 	@ExtApiFn(name = "归零", group = "测试工具", order = 11)
 	public void moveToZero() throws AppException {
 		enableModule();
+
+		motorEnableExDriver.preProcessRelatedModuleEnable(true);
+		motorMoveZeroExDriver.preProcessModuleMoveToZero();
+
 		pipetteCtrlDriver.zMotorMoveZeroBlock();
 		hbotBaseMoveExDriver.moveToZero();
+
 	}
 
 	@ExtApiFn(name = "使能相关模块", group = "测试工具", order = 12)
@@ -89,33 +101,44 @@ public class HbotSamplePosCalibration {
 
 	@ExtApiFn(name = "失能相关模块", group = "测试工具", order = 13)
 	public void disableModule() throws AppException {
-		motorEnableExDriver.forceDisableAllMotor();
+		pipetteCtrlDriver.zMotorEnable(0);
+		hbotBaseMoveExDriver.enable(0);
 	}
 
 
-	@ExtApiFn(name = "试管夹具复位", group = "辅助工具", order = 21)
-	public void tubeClampMoveZero() throws AppException {
-
-		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModClampingM, 1);
-		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModShakeM, 1);
-		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModShakeM, 5000);
-		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.ShakeModShakeM, 90, 5000);
-		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModClampingM, 5000);
-		tubePreProcesModuleExDriver.clampingMReleaseTube();
-		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModShakeM, 0);
-	}
-
-	@ExtApiFn(name = "释放试管", group = "辅助工具", order = 22)
-	public void releaseTubeClamp() throws AppException {
-		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModClampingM, 1);
-		stepMotorCtrlDriver.stepMotorEasyMoveByBlock(StepMotorMId.ShakeModClampingM, 20, 5000);
-		//		tubePreProcesModuleExDriver.clampingMReleaseTube();
+	//	@ExtApiFn(name = "试管夹具复位", group = "辅助工具", order = 21)
+	//	public void tubeClampMoveZero() throws AppException {
+	//		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModClampingM, 1);
+	//		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModShakeM, 1);
+	//		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModShakeM, 5000);
+	//		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.ShakeModShakeM, 90, 5000);
+	//		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModClampingM, 5000);
+	//		tubePreProcesModuleExDriver.clampingMReleaseTube();
+	//		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModShakeM, 0);
+	//	}
+	//
+	//	@ExtApiFn(name = "释放试管", group = "辅助工具", order = 22)
+	//	public void releaseTubeClamp() throws AppException {
+	//		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModClampingM, 1);
+	//		stepMotorCtrlDriver.stepMotorEasyMoveByBlock(StepMotorMId.ShakeModClampingM, 20, 5000);
+	//		//		tubePreProcesModuleExDriver.clampingMReleaseTube();
+	//	}
+	//
+	//	@ExtApiFn(name = "夹紧试管", group = "辅助工具", order = 23)
+	//	public void clampTubeClamp() throws AppException {
+	//		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModClampingM, 1);
+	//		tubePreProcesModuleExDriver.clampingMclampTube();
+	//	}
+
+	@ExtApiFn(name = "取试管到试管摇匀位", group = "辅助工具", order = 21)
+	public void takeTubeToShakePos(Boolean isHtube) throws AppException {
+		tubePreProcesCtrlService.takeTubeFromTubeholderToShakePos(isHtube);
+		tubePreProcesCtrlService.takeTubeCap();
 	}
 
-	@ExtApiFn(name = "夹紧试管", group = "辅助工具", order = 23)
-	public void clampTubeClamp() throws AppException {
-		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModClampingM, 1);
-		tubePreProcesModuleExDriver.clampingMclampTube();
+	@ExtApiFn(name = "放回试管到试管架中", group = "辅助工具", order = 22)
+	public void putTubeBak() throws AppException {
+		tubePreProcesCtrlService.putbakTubeCapAndPutbakTubeToTubeHolder();
 	}
 
 

src/main/java/a8k/service/app/devicectrl/param/calibration/ReactionPlatesTransmitControlerCalibration.java

@@ -105,6 +105,11 @@ public class ReactionPlatesTransmitControlerCalibration {
 		return turntablePosParamMgr.getParams();
 	}
 
+	@ExtApiFn(name = "获取Hbot滴定坐标", group = "测试工具", order = 7)
+	public Object getHbotDropLiquidPos() {
+		return hbotFixedPosParamMgr.getParam(HbotFixedPosParamMgr.Pos.DropLiquidPos);
+	}
+
 
 	//
 	//	孵育盘校准
@@ -137,7 +142,12 @@ public class ReactionPlatesTransmitControlerCalibration {
 		return dropLiquidPos0;
 	}
 
-	@ExtApiFn(name = "标定", group = "HbotTip滴定位.校准", order = 104)
+	@ExtApiFn(name = "移动孵育盘仓位1滴定位到放液位", group = "HbotTip滴定位.校准", order = 110)
+	public void moveTurnablePos0ToDropPos() throws AppException {
+		turnableMoveCtrlService.trunableMoveToDropLiquidPos(IncubatorPos.SPACE01);
+	}
+
+	@ExtApiFn(name = "标定", group = "HbotTip滴定位.校准", order = 111)
 	public Pos3d Hbot_dropLiquidPosCalibration() throws AppException {
 		enableModule();
 		pipetteCtrlDriver.zMotorMeasureDistance();
@@ -224,22 +234,26 @@ public class ReactionPlatesTransmitControlerCalibration {
 
 	@ExtApiFn(name = "滴定", group = "校验", order = 1000)
 	public void turntableMoveDropPos(IncubatorPos pos) throws AppException {
+		deviceReset();
 		turnableMoveCtrlService.trunableMoveToDropLiquidPos(pos);
 		hbotCtrlService.moveToDropLiquidPos();
 	}
 
 	@ExtApiFn(name = "孵育盘移动到拉板位", group = "校验", order = 1001)
 	public void turntableMovePullPos(IncubatorPos pos) throws AppException {
+		deviceReset();
 		turnableMoveCtrlService.trunableMoveToPullPos(pos);
 	}
 
 	@ExtApiFn(name = "孵育盘移动到推板位", group = "校验", order = 1002)
 	public void turntableMovePushPos(IncubatorPos pos) throws AppException {
+		deviceReset();
 		turnableMoveCtrlService.trunableMoveToPushPos(pos);
 	}
 
 	@ExtApiFn(name = "反应板.推一丢一", group = "校验", order = 1003)
 	public void pushOneAndRemove(ConsumableGroup PBCh, IncubatorPos incubatorPos) throws AppException {
+		deviceReset();
 		plateBoxCtrlService.pushPlateQuick(PBCh, incubatorPos);
 		optScanModuleCtrlService.pullPlate(incubatorPos);
 		optScanModuleCtrlService.dropPlate();
@@ -247,6 +261,7 @@ public class ReactionPlatesTransmitControlerCalibration {
 
 	@ExtApiFn(name = "反应板.推所有丢所有", group = "校验", order = 1004)
 	public void pushAllAndRemoveAll() throws AppException {
+		deviceReset();
 		pushOneAndRemove(ConsumableGroup.GROUP0, IncubatorPos.SPACE01);
 		pushOneAndRemove(ConsumableGroup.GROUP1, IncubatorPos.SPACE02);
 		pushOneAndRemove(ConsumableGroup.GROUP2, IncubatorPos.SPACE03);

src/main/java/a8k/service/app/devicectrl/param/calibration/TubePreProcesPosCalibration.java

@@ -270,8 +270,8 @@ public class TubePreProcesPosCalibration {
 		deviceReset();
 		controler.takeTubeFromTubeholderToShakePos(isHTube);
 		controler.shakeTube(45, 5);
-		controler.takeTubeCap(isHTube);
-		controler.putbakTubeCapAndPutbakTubeToTubeHolder(isHTube);
+		controler.takeTubeCap();
+		controler.putbakTubeCapAndPutbakTubeToTubeHolder();
 		tubePreProcesModuleExDriver.clampingMReleaseTubeInFuzzyPos();
 		disableModule();
 

src/main/java/a8k/service/app/devicectrl/param/param_mgr/HbotFixedPosParamMgr.java

@@ -14,7 +14,7 @@ import org.springframework.stereotype.Component;
 public class HbotFixedPosParamMgr  extends ParamMgr {
 	static final Logger logger = LoggerFactory.getLogger(HbotFixedPosParamMgr.class);
 
-	enum Pos {
+	public enum Pos {
 		DropLiquidPos("滴液位置"),
 		;
 		public final String chName;

src/main/java/a8k/service/app/devicectrl/param/param_mgr/base/ParamMgr.java

@@ -9,13 +9,17 @@ import java.util.List;
 public class ParamMgr {
 	@Resource
 	LowerDeviceParameterDBService db;
-	String                        serviceName = this.getClass().getSimpleName();
+	String serviceName = this.getClass().getSimpleName();
 
 
 	public List<Parameter> getParams() {
 		return db.getParams(serviceName);
 	}
 
+	public Parameter getParam(Enum<?> key) {
+		return db.getParam(this.serviceName, key.name());
+	}
+
 	public void resetParams() {
 		db.recoveryParamByService(serviceName);
 	}