recode

doc/TODO.md

@@ -25,5 +25,5 @@
     [25-01-03 16:48:31.422] [SocketCan           ] [E] send frame overtime
     [25-01-03 16:48:33.504] [ExtAPIService       ] [I] down can bin -> 350E010001005B00(16)
     [25-01-03 16:48:33.525] [SocketCan           ] [E] send frame overtime
-
+4. 处理一下A8kEcode.APPE_TAKE_TIP_FAIL错误
 ```

src/main/java/a8k/app/a8ktype/param/Hbot2DCodeScanPos.java

@@ -1,34 +0,0 @@
-package a8k.app.a8ktype.param;
-
-import a8k.app.a8ktype.device.Pos2d;
-
-public enum Hbot2DCodeScanPos {
-	PBScanPos0("板夹仓扫码位置0", Pos2d.class),
-	//	PBScanPos1("板夹仓扫码位置1", Pos2d.class),
-	//	PBScanPos2("板夹仓扫码位置2", Pos2d.class),
-	//	PBScanPos3("板夹仓扫码位置3", Pos2d.class),
-	//	PBScanPos4("板夹仓扫码位置4", Pos2d.class),
-	//	PBScanPos5("板夹仓扫码位置5", Pos2d.class),
-
-	LittBS0("小缓冲液扫码位置0", Pos2d.class),
-	//	LittBS1("小缓冲液扫码位置1", Pos2d.class),
-	//	LittBS2("小缓冲液扫码位置2", Pos2d.class),
-	//	LittBS3("小缓冲液扫码位置3", Pos2d.class),
-	//	LittBS4("小缓冲液扫码位置4", Pos2d.class),
-	//	LittBS5("小缓冲液扫码位置5", Pos2d.class),
-
-	LarBS0("大缓冲液扫码位置0", Pos2d.class),
-	//	LarBS1("大缓冲液扫码位置1", Pos2d.class),
-	//	LarBS2("大缓冲液扫码位置2", Pos2d.class),
-	//	LarBS3("大缓冲液扫码位置3", Pos2d.class),
-	//	LarBS4("大缓冲液扫码位置4", Pos2d.class),
-	//	LarBS5("大缓冲液扫码位置5", Pos2d.class),
-	;
-	public final String   chName;
-	public final Class<?> type;
-
-	Hbot2DCodeScanPos(String chName, Class<?> type) {
-		this.chName = chName;
-		this.type   = type;
-	}
-}

src/main/java/a8k/app/a8ktype/param/HbotProbeSubstancePos.java

@@ -1,35 +0,0 @@
-//package a8k.app.a8ktype.param;
-//
-//import a8k.app.a8ktype.device.Pos3d;
-//
-//public enum HbotProbeSubstancePos {
-//	ProbeSubstanceGroup0_000Pos("第1组探测物质的第1个位置", Pos3d.class),
-//	ProbeSubstanceGroup1_000Pos("第1组探测物质的第2个位置", Pos3d.class),
-//	ProbeSubstanceGroup2_000Pos("第1组探测物质的第3个位置", Pos3d.class),
-//	ProbeSubstanceGroup3_000Pos("第1组探测物质的第4个位置", Pos3d.class),
-//	ProbeSubstanceGroup4_000Pos("第1组探测物质的第5个位置", Pos3d.class),
-//	ProbeSubstanceGroup5_000Pos("第1组探测物质的第6个位置", Pos3d.class),
-//	ProbeSubstanceDX("探测物质的X间距", Double.class),
-//	ProbeSubstanceDY("探测物质的Y间距", Double.class),
-//
-//
-//	ProbeSubstanceGroupDX("探测物质的组X间距", Double.class),
-//	ProbeSubstanceGroupDY("探测物质的组Y间距", Double.class),
-//
-//	ProbeSubstancePierceXYAppendDistance("探测物质液刺破XY附加距离", Double.class),
-//	ProbeSubstancePierceZPos("探测物质液刺破Z坐标", Integer.class),
-//	//	ProbeSubstanceSampleZPos(探测物质取样Z坐标.class),
-//	ProbeSubstanceSampleZPos("探测物质取样Z坐标", Integer.class),//刺破高度和取样高度一样
-//	;
-//	final public String   chName;
-//	final public Class<?> type;
-//
-//	HbotProbeSubstancePos(String chName, Class<?> type) {
-//		this.chName = chName;
-//		this.type   = type;
-//	}
-//
-//	public static HbotProbeSubstancePos valueOf(int off) {
-//		return HbotProbeSubstancePos.values()[off];
-//	}
-//}

src/main/java/a8k/app/a8ktype/param/TubePrePorcessStructConstant.java

@@ -1 +0,0 @@
-package a8k.app.a8ktype.param;

src/main/java/a8k/app/a8ktype/param/hbotpos/Hbot2DCodeScanPos.java

@@ -0,0 +1,17 @@
+package a8k.app.a8ktype.param.hbotpos;
+
+import a8k.app.a8ktype.device.Pos2d;
+
+public enum Hbot2DCodeScanPos {
+	PBScanPos0("板夹仓扫码位置0", Pos2d.class),
+	LittBS0("小缓冲液扫码位置0", Pos2d.class),
+	LarBS0("大缓冲液扫码位置0", Pos2d.class),
+	;
+	public final String   chName;
+	public final Class<?> type;
+
+	Hbot2DCodeScanPos(String chName, Class<?> type) {
+		this.chName = chName;
+		this.type   = type;
+	}
+}

src/main/java/a8k/app/a8ktype/param/HbotLargeBottleBSPos.java → src/main/java/a8k/app/a8ktype/param/hbotpos/HbotLargeBottleBSPos.java

@@ -1,4 +1,4 @@
-package a8k.app.a8ktype.param;
+package a8k.app.a8ktype.param.hbotpos;
 
 import a8k.app.a8ktype.device.Pos2d;
 

src/main/java/a8k/app/a8ktype/param/HbotLittleBSPos.java → src/main/java/a8k/app/a8ktype/param/hbotpos/HbotLittleBSPos.java

@@ -1,4 +1,4 @@
-package a8k.app.a8ktype.param;
+package a8k.app.a8ktype.param.hbotpos;
 
 import a8k.app.a8ktype.device.Pos2d;
 
@@ -20,6 +20,7 @@ public enum HbotLittleBSPos {
 	LittleBSPierceZPos("小瓶缓冲液刺破Z坐标", Integer.class),
 	LittleBSSampleZPos("小瓶缓冲液取样Z坐标", Integer.class),
 
+
 	ProbeSubstancePierceZPos("探测物质液刺破Z坐标", Integer.class),
 	ProbeSubstanceSampleZPos("探测物质取样Z坐标", Integer.class),
 	;

src/main/java/a8k/app/a8ktype/param/HbotSamplePos.java → src/main/java/a8k/app/a8ktype/param/hbotpos/HbotSamplePos.java

@@ -1,4 +1,4 @@
-package a8k.app.a8ktype.param;
+package a8k.app.a8ktype.param.hbotpos;
 
 import a8k.app.a8ktype.device.Pos3d;
 

src/main/java/a8k/app/a8ktype/param/HbotTipPosParam.java → src/main/java/a8k/app/a8ktype/param/hbotpos/HbotTipPosParam.java

@@ -1,4 +1,4 @@
-package a8k.app.a8ktype.param;
+package a8k.app.a8ktype.param.hbotpos;
 
 import a8k.app.a8ktype.device.Pos3d;
 

src/main/java/a8k/app/a8ktype/param/hbotpos/HbotZPos.java

@@ -0,0 +1,27 @@
+package a8k.app.a8ktype.param.hbotpos;
+
+public enum HbotZPos {
+	ZRefLevelPos("Z参考平面位置", Integer.class),
+
+	LargeBottleBufferLLDStartZAxisPos("大瓶缓冲液LLD起始Z轴坐标", Double.class),
+	LargeBottleBufferBottomZAxisPos("大瓶缓冲液瓶底Z轴坐标", Double.class),
+
+	LittleBSPierceXYAppendDistance("小瓶缓冲液刺破XY附加距离", Double.class),
+	ProbeSubstancePierceXYAppendDistance("探测物质液刺破XY附加距离", Double.class),
+
+
+	;
+	final public String   chName;
+	final public Class<?> type;
+
+	HbotZPos(String chName, Class<?> type) {
+		this.chName = chName;
+		this.type   = type;
+
+	}
+
+	public static HbotZPos valueOf(int off) {
+		return HbotZPos.values()[off];
+	}
+
+}

src/main/java/a8k/app/a8ktype/param/OptModuleExtParam.java → src/main/java/a8k/app/a8ktype/param/optpos/OptModuleExtParam.java

@@ -1,4 +1,4 @@
-package a8k.app.a8ktype.param;
+package a8k.app.a8ktype.param.optpos;
 
 public enum OptModuleExtParam {
 //	OptScanRefPos("光学扫描参考坐标", Integer.class),

src/main/java/a8k/app/a8ktype/param/OptModuleParam.java → src/main/java/a8k/app/a8ktype/param/optpos/OptModuleParam.java

@@ -1,4 +1,4 @@
-package a8k.app.a8ktype.param;
+package a8k.app.a8ktype.param.optpos;
 
 public enum OptModuleParam {
 	PullerTargetPos("拉板目标位置", Integer.class),

src/main/java/a8k/app/a8ktype/param/PipetteGunLLDThresholdParam.java → src/main/java/a8k/app/a8ktype/param/pipette/PipetteGunLLDThresholdParam.java

@@ -1,4 +1,4 @@
-package a8k.app.a8ktype.param;
+package a8k.app.a8ktype.param.pipette;
 
 public enum PipetteGunLLDThresholdParam {
 	DEFAULT_C_THRESHOLD("默认电容C阈值", Integer.class),

src/main/java/a8k/app/a8ktype/param/PipetteGunLLDTypeParam.java → src/main/java/a8k/app/a8ktype/param/pipette/PipetteGunLLDTypeParam.java

@@ -1,4 +1,4 @@
-package a8k.app.a8ktype.param;
+package a8k.app.a8ktype.param.pipette;
 
 import a8k.app.hardware.type.LldType;
 

src/main/java/a8k/app/a8ktype/param/PipetteGunLLFParam.java → src/main/java/a8k/app/a8ktype/param/pipette/PipetteGunLLFParam.java

@@ -1,4 +1,4 @@
-package a8k.app.a8ktype.param;
+package a8k.app.a8ktype.param.pipette;
 
 public enum PipetteGunLLFParam {
 	// 试管容器参数

src/main/java/a8k/app/a8ktype/param/TubeFeedingModulePos.java → src/main/java/a8k/app/a8ktype/param/tubefeeding/TubeFeedingModulePos.java

@@ -1,4 +1,4 @@
-package a8k.app.a8ktype.param;
+package a8k.app.a8ktype.param.tubefeeding;
 
 public enum TubeFeedingModulePos {
 	TubeHolderEnterXPos("入料位置", Integer.class), //

src/main/java/a8k/app/a8ktype/param/TubeFeedingModuleSetting.java → src/main/java/a8k/app/a8ktype/param/tubefeeding/TubeFeedingModuleSetting.java

@@ -1,4 +1,4 @@
-package a8k.app.a8ktype.param;
+package a8k.app.a8ktype.param.tubefeeding;
 
 public enum TubeFeedingModuleSetting {
 	TubeScanServoTorque("试管扫描伺服力矩",Integer.class), //

src/main/java/a8k/app/a8ktype/param/TubePreProcessGripperPos.java → src/main/java/a8k/app/a8ktype/param/tubepreprocess/TubePreProcessGripperPos.java

@@ -1,4 +1,4 @@
-package a8k.app.a8ktype.param;
+package a8k.app.a8ktype.param.tubepreprocess;
 
 public enum TubePreProcessGripperPos {
 	GripperServoOpenPos("<抓手>张开位置", Integer.class),//

src/main/java/a8k/app/a8ktype/param/TubePreProcessTubeClamp.java → src/main/java/a8k/app/a8ktype/param/tubepreprocess/TubePreProcessTubeClamp.java

@@ -1,4 +1,4 @@
-package a8k.app.a8ktype.param;
+package a8k.app.a8ktype.param.tubepreprocess;
 
 public enum TubePreProcessTubeClamp {
 	ShakeClampMotorClampPos("<摇匀试管夹>夹紧位",Integer.class),//

src/main/java/a8k/app/a8ktype/param/TubePreProcessYPos.java → src/main/java/a8k/app/a8ktype/param/tubepreprocess/TubePreProcessYPos.java

@@ -1,4 +1,4 @@
-package a8k.app.a8ktype.param;
+package a8k.app.a8ktype.param.tubepreprocess;
 
 public enum TubePreProcessYPos {
 

src/main/java/a8k/app/a8ktype/param/TubePreProcessZAxisPos.java → src/main/java/a8k/app/a8ktype/param/tubepreprocess/TubePreProcessZAxisPos.java

@@ -1,4 +1,4 @@
-package a8k.app.a8ktype.param;
+package a8k.app.a8ktype.param.tubepreprocess;
 
 public enum TubePreProcessZAxisPos {
 	ZMotorTakeHTubePos("<Z轴>取高试管位置",Integer.class),//

src/main/java/a8k/app/a8ktype/param/A8kSamplePos.java → src/main/java/a8k/app/a8ktype/param/type/A8kSamplePos.java

@@ -1,4 +1,4 @@
-package a8k.app.a8ktype.param;
+package a8k.app.a8ktype.param.type;
 
 public enum A8kSamplePos {
 	EmergencyTubePos("<急诊位>"),

src/main/java/a8k/app/a8ktype/state/ProjectTaskContext.java

@@ -3,12 +3,11 @@ package a8k.app.a8ktype.state;
 import a8k.SpringBootBeanUtil;
 import a8k.app.a8kproj.optalgo.type.OptScanResult;
 import a8k.app.a8ktype.device.*;
-import a8k.app.a8ktype.param.A8kSamplePos;
+import a8k.app.a8ktype.param.type.A8kSamplePos;
 import a8k.app.dao.db.type.ProjExtInfoCard;
 import a8k.app.dao.db.type.a8kidcard.zenum.A8kOptType;
 import a8k.app.dao.db.type.a8kidcard.zenum.A8kReactionFlowType;
 import a8k.app.service.exparam.HbotConsumableParamMgr;
-import a8k.app.service.statemgr.ProjectContextMgrService;
 import a8k.app.utils.ProjBuildinInfo;
 import a8k.app.utils.ProjInfoReader;
 import a8k.app.utils.ZJsonHelper;

src/main/java/a8k/app/a8ktype/state/enumtype/TubeState.java

@@ -9,7 +9,6 @@ public enum TubeState {
 	PENDING,//挂起的试管，即下一个被处理的试管
 	RESOURCE_IS_READY,//资源准备好
 	PROCESSING,//处理
-	PROCESSED,//处理完成
 	PROCESS_COMPLETE,//处理完成
 	ERROR,//处理出错
 	;

src/main/java/a8k/app/service/exparam/PipetteGunParamExMgr.java

@@ -8,12 +8,11 @@ import a8k.app.service.param.HbotLargeBottleBSPosMgr;
 import a8k.app.service.param.HbotSamplePosParamMgr;
 import a8k.app.service.param.PipetteGunLLDParamMgr;
 import a8k.app.service.param.PipetteGunLLFParamMgr;
-import a8k.app.a8ktype.param.A8kSamplePos;
-import a8k.app.a8ktype.param.PipetteGunLLDThresholdParam;
-import a8k.app.a8ktype.param.PipetteGunLLDTypeParam;
+import a8k.app.a8ktype.param.type.A8kSamplePos;
+import a8k.app.a8ktype.param.pipette.PipetteGunLLDThresholdParam;
+import a8k.app.a8ktype.param.pipette.PipetteGunLLDTypeParam;
 import a8k.app.a8ktype.device.ConsumableGroup;
 import a8k.app.a8ktype.device.Pos3d;
-import a8k.app.utils.ProjProcessContextUtils;
 import jakarta.annotation.Resource;
 import org.springframework.stereotype.Component;
 import org.springframework.util.Assert;

src/main/java/a8k/app/service/lowerctrl/HbotMoveExCtrlService.java

@@ -10,8 +10,8 @@ import a8k.app.hardware.driver.PipetteCtrlDriver;
 import a8k.app.service.exparam.HbotConsumableParamMgr;
 import a8k.app.service.param.HbotFixedPosParamMgr;
 import a8k.app.service.param.HbotSamplePosParamMgr;
-import a8k.app.a8ktype.param.A8kSamplePos;
-import a8k.app.a8ktype.param.HbotSamplePos;
+import a8k.app.a8ktype.param.type.A8kSamplePos;
+import a8k.app.a8ktype.param.hbotpos.HbotSamplePos;
 import a8k.app.a8ktype.exception.AppException;
 import a8k.app.utils.ZAppChecker;
 import jakarta.annotation.Resource;

src/main/java/a8k/app/service/lowerctrl/LiquidOperationCtrlService.java

@@ -3,7 +3,7 @@ package a8k.app.service.lowerctrl;
 
 import a8k.app.a8ktype.DeviceRunMode;
 import a8k.app.a8ktype.device.*;
-import a8k.app.a8ktype.param.A8kSamplePos;
+import a8k.app.a8ktype.param.type.A8kSamplePos;
 import a8k.app.dao.db.type.ProjExtInfoCard;
 import a8k.app.hardware.driver.type.PipetteRegIndex;
 import a8k.app.hardware.type.LldType;

src/main/java/a8k/app/service/mainctrl/mainflowctrl/action/AC41ProcessSample.java

@@ -101,6 +101,11 @@ public class AC41ProcessSample extends A8kActionTask {
 		} else {
 			startTask();
 		}
+		if (errorsCollection.isEmpty()) {
+			tubeStateMgrService.changeTubeStateToProcessComplete();
+		} else {
+			tubeStateMgrService.changeTubeStateToError(errorsCollection);
+		}
 		return actionTaskPool.waitAllDone();
 	}
 
@@ -110,8 +115,6 @@ public class AC41ProcessSample extends A8kActionTask {
 	//	private List<AppError> afterDoAction(List<AppError> errors) {
 	////			!!!tubeStateMgrService.changeTubeStateToError(errors);
 	//	}
-
-
 	//
 	//			VIRTUAL
 	//
@@ -119,7 +122,6 @@ public class AC41ProcessSample extends A8kActionTask {
 	void startVirtualTask() {
 		actionTaskPool.pushTask("samplePrepareAndRecyle", new ActionTaskPool.ActionTask() {
 			@Override public void doAction() throws AppException, ZAppInterruptException {
-
 			}
 
 			@Override public Exception processError(Exception e) {
@@ -134,7 +136,14 @@ public class AC41ProcessSample extends A8kActionTask {
 
 		actionTaskPool.pushTask("paltePrepare", new ActionTaskPool.ActionTask() {
 			@Override public void doAction() throws AppException, ZAppInterruptException {
-
+				Tube                     tube = tubeStateMgrService.getCurProcessingTube();
+				List<ProjectTaskContext> cxts = projectContextMgrService.findCxts(tube.getSampleId());
+				for (ProjectTaskContext cxt : cxts) {
+					cxt.setStartIncubatedTime(System.currentTimeMillis());
+					cxt.setIncubatedTimeSec(cxt.getProjBuildinInfo().reactionPlateIncubationTimeMin * 60);
+					incubationPlateStateMgrService.syncSampleInfo(cxt.getIncubatorPos(), Objects.requireNonNull(ProjInfoUtils.buildProjBrefInfo(cxt)), cxt.getSampleInfo());
+					incubationPlateStateMgrService.startIncubating(cxt.getIncubatorPos(), cxt.getStartIncubatedTime(), cxt.getIncubatedTimeSec());
+				}
 			}
 
 			@Override public Exception processError(Exception e) {
@@ -195,6 +204,9 @@ public class AC41ProcessSample extends A8kActionTask {
 
 				//样本后处理
 				tubePreProcesCtrlService.resteModule();
+
+				//设置试管状态为处理完成
+				tubeStateMgrService.changeTubeStateToProcessComplete();
 			}
 
 			@Override public Exception processError(Exception e) {
@@ -379,6 +391,6 @@ public class AC41ProcessSample extends A8kActionTask {
 	//
 	//	异常由各个Action自行进行处理，返回给上层，则认为是无法处理的异常，直接结束
 	//
-	
+
 
 }

src/main/java/a8k/app/service/mainctrl/mainflowctrl/action/AC42FinishProcesseTube.java

@@ -1,101 +1,101 @@
-package a8k.app.service.mainctrl.mainflowctrl.action;
-
-import a8k.app.hardware.type.a8kcanprotocol.A8kEcode;
-import a8k.app.service.mainctrl.mainflowctrl.base.A8kActionTask;
-import a8k.app.service.mainctrl.mainflowctrl.base.MainFlowProcesser;
-import a8k.app.service.statemgr.DeviceWorkStateMgrService;
-import a8k.app.service.statemgr.TubeStateMgrService;
-import a8k.app.a8ktype.state.Tube;
-import a8k.app.a8ktype.state.enumtype.TubeState;
-import a8k.app.service.lowerctrl.HbotMoveExCtrlService;
-import a8k.app.service.lowerctrl.TubePreProcesModuleExCtrlService;
-import a8k.app.service.mainctrl.erroranalyzer.ErrorProcessor;
-import a8k.app.utils.ZList;
-import a8k.teststate.VirtualDevice;
-import a8k.app.a8ktype.error.AppError;
-import a8k.app.a8ktype.exception.AppException;
-import jakarta.annotation.Resource;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-import org.springframework.util.Assert;
-
-import java.util.ArrayList;
-import java.util.List;
-
-
-/**
- *	异常试管处理任务
- */
-
-@Component
-@MainFlowProcesser
-@Slf4j
-public class AC42FinishProcesseTube extends A8kActionTask {
-
-	@Resource
-	VirtualDevice virtualDevice;
-
-
-	@Resource
-	TubePreProcesModuleExCtrlService tubePreProcesCtrlService;
-	@Resource
-	HbotMoveExCtrlService            hbotMoveExCtrlService;
-
-	@Resource
-	TubeStateMgrService       tubeStateMgrService;
-	@Resource
-	DeviceWorkStateMgrService deviceWorkStateMgrService;
-
-
-	public Boolean isReady() {
-		Tube tube = tubeStateMgrService.getCurProcessingTube();
-		return tube != null
-				&& tube.getState().equals(TubeState.PROCESSED)
-				;
-	}
-
-	public String toDisplayString() {
-		return "样本后处理";
-	}
-
-	void resetHbotAndShakeModule() throws AppException {
-		if (virtualDevice.isEnable()) {
-			virtualDevice.doVirtualThings("处理错误试管");
-			virtualDevice.doVirtualThings("复位摇匀模组");
-			virtualDevice.doVirtualThings("复位HBOT");
-			return;
-		}
-
-		//复位hbot
-		if (hbotMoveExCtrlService.isHasTip()) {
-			hbotMoveExCtrlService.dropTip();
-			hbotMoveExCtrlService.moveQuickToZero();
-		}
-
-		//复位预处理模块
-		tubePreProcesCtrlService.resteModule();
-	}
-
-	@Override public List<AppError> doAction() {
-		try {
-			Tube tube = tubeStateMgrService.getCurProcessingTube();
-			Assert.isTrue(tube != null, "tube != null");
-			//如果试管状态为ERROR,则复位hbot和预处理模块
-			if (tube.getState().equals(TubeState.ERROR)) {
-				resetHbotAndShakeModule();
-			}
-		} catch (AppException e) {
-			log.error("catch error {}", e.getMessage(), e);
-			return ZList.of(e.getError());
-		}
-		Tube tube = tubeStateMgrService.getCurProcessingTube();
-		if (ErrorProcessor.isContainError(tube.getErrors(), A8kEcode.APPE_TAKE_TIP_FAIL)) {
-			deviceWorkStateMgrService.setPauseActionPending(true);
-		}
-
-		tubeStateMgrService.changeTubeStateToProcessComplete();
-		return new ArrayList<>();
-	}
-
-
-}
+//package a8k.app.service.mainctrl.mainflowctrl.action;
+//
+//import a8k.app.hardware.type.a8kcanprotocol.A8kEcode;
+//import a8k.app.service.mainctrl.mainflowctrl.base.A8kActionTask;
+//import a8k.app.service.mainctrl.mainflowctrl.base.MainFlowProcesser;
+//import a8k.app.service.statemgr.DeviceWorkStateMgrService;
+//import a8k.app.service.statemgr.TubeStateMgrService;
+//import a8k.app.a8ktype.state.Tube;
+//import a8k.app.a8ktype.state.enumtype.TubeState;
+//import a8k.app.service.lowerctrl.HbotMoveExCtrlService;
+//import a8k.app.service.lowerctrl.TubePreProcesModuleExCtrlService;
+//import a8k.app.service.mainctrl.erroranalyzer.ErrorProcessor;
+//import a8k.app.utils.ZList;
+//import a8k.teststate.VirtualDevice;
+//import a8k.app.a8ktype.error.AppError;
+//import a8k.app.a8ktype.exception.AppException;
+//import jakarta.annotation.Resource;
+//import lombok.extern.slf4j.Slf4j;
+//import org.springframework.stereotype.Component;
+//import org.springframework.util.Assert;
+//
+//import java.util.ArrayList;
+//import java.util.List;
+//
+//
+///**
+// *	异常试管处理任务
+// */
+//
+//@Component
+//@MainFlowProcesser
+//@Slf4j
+//public class AC42FinishProcesseTube extends A8kActionTask {
+//
+//	@Resource
+//	VirtualDevice virtualDevice;
+//
+//
+//	@Resource
+//	TubePreProcesModuleExCtrlService tubePreProcesCtrlService;
+//	@Resource
+//	HbotMoveExCtrlService            hbotMoveExCtrlService;
+//
+//	@Resource
+//	TubeStateMgrService       tubeStateMgrService;
+//	@Resource
+//	DeviceWorkStateMgrService deviceWorkStateMgrService;
+//
+//
+//	public Boolean isReady() {
+//		Tube tube = tubeStateMgrService.getCurProcessingTube();
+//		return tube != null
+//				&& tube.getState().equals(TubeState.PROCESSED)
+//				;
+//	}
+//
+//	public String toDisplayString() {
+//		return "样本后处理";
+//	}
+//
+//	void resetHbotAndShakeModule() throws AppException {
+//		if (virtualDevice.isEnable()) {
+//			virtualDevice.doVirtualThings("处理错误试管");
+//			virtualDevice.doVirtualThings("复位摇匀模组");
+//			virtualDevice.doVirtualThings("复位HBOT");
+//			return;
+//		}
+//
+//		//复位hbot
+//		if (hbotMoveExCtrlService.isHasTip()) {
+//			hbotMoveExCtrlService.dropTip();
+//			hbotMoveExCtrlService.moveQuickToZero();
+//		}
+//
+//		//复位预处理模块
+//		tubePreProcesCtrlService.resteModule();
+//	}
+//
+//	@Override public List<AppError> doAction() {
+//		try {
+//			Tube tube = tubeStateMgrService.getCurProcessingTube();
+//			Assert.isTrue(tube != null, "tube != null");
+//			//如果试管状态为ERROR,则复位hbot和预处理模块
+//			if (tube.getState().equals(TubeState.ERROR)) {
+//				resetHbotAndShakeModule();
+//			}
+//		} catch (AppException e) {
+//			log.error("catch error {}", e.getMessage(), e);
+//			return ZList.of(e.getError());
+//		}
+//		Tube tube = tubeStateMgrService.getCurProcessingTube();
+//		if (ErrorProcessor.isContainError(tube.getErrors(), A8kEcode.APPE_TAKE_TIP_FAIL)) {
+//			deviceWorkStateMgrService.setPauseActionPending(true);
+//		}
+//
+//		tubeStateMgrService.changeTubeStateToProcessComplete();
+//		return new ArrayList<>();
+//	}
+//
+//
+//}

src/main/java/a8k/app/service/param/Hbot2DCodeScanParamMgr.java

@@ -1,7 +1,7 @@
 package a8k.app.service.param;
 
 import a8k.app.service.param.base.ParamMgr;
-import a8k.app.a8ktype.param.Hbot2DCodeScanPos;
+import a8k.app.a8ktype.param.hbotpos.Hbot2DCodeScanPos;
 import a8k.app.a8ktype.device.Pos2d;
 import jakarta.annotation.PostConstruct;
 import jakarta.annotation.Resource;

src/main/java/a8k/app/service/param/HbotLargeBottleBSPosMgr.java

@@ -2,7 +2,7 @@ package a8k.app.service.param;
 
 import a8k.app.a8ktype.device.ConsumableGroup;
 import a8k.app.service.param.base.ParamMgr;
-import a8k.app.a8ktype.param.HbotLargeBottleBSPos;
+import a8k.app.a8ktype.param.hbotpos.HbotLargeBottleBSPos;
 import a8k.app.a8ktype.device.Pos2d;
 import a8k.app.a8ktype.device.Pos3d;
 import jakarta.annotation.PostConstruct;

src/main/java/a8k/app/service/param/HbotLittleBSPosMgr.java

@@ -2,7 +2,7 @@ package a8k.app.service.param;
 
 import a8k.app.a8ktype.device.ConsumableGroup;
 import a8k.app.service.param.base.ParamMgr;
-import a8k.app.a8ktype.param.HbotLittleBSPos;
+import a8k.app.a8ktype.param.hbotpos.HbotLittleBSPos;
 import a8k.app.a8ktype.device.Pos2d;
 import a8k.app.a8ktype.device.Pos3d;
 import jakarta.annotation.PostConstruct;

src/main/java/a8k/app/service/param/HbotSamplePosParamMgr.java

@@ -1,8 +1,8 @@
 package a8k.app.service.param;
 
 import a8k.app.service.param.base.ParamMgr;
-import a8k.app.a8ktype.param.A8kSamplePos;
-import a8k.app.a8ktype.param.HbotSamplePos;
+import a8k.app.a8ktype.param.type.A8kSamplePos;
+import a8k.app.a8ktype.param.hbotpos.HbotSamplePos;
 import a8k.app.a8ktype.device.Pos3d;
 import jakarta.annotation.PostConstruct;
 import org.slf4j.Logger;

src/main/java/a8k/app/service/param/HbotTipPosMgr.java

@@ -2,7 +2,7 @@ package a8k.app.service.param;
 
 import a8k.app.constant.AppConstant;
 import a8k.app.service.param.base.ParamMgr;
-import a8k.app.a8ktype.param.HbotTipPosParam;
+import a8k.app.a8ktype.param.hbotpos.HbotTipPosParam;
 import a8k.app.a8ktype.type.TipPosConfig;
 import a8k.app.a8ktype.device.Pos3d;
 import a8k.app.a8ktype.device.TipGroup;

src/main/java/a8k/app/service/param/OptModuleExtParamsMgr.java

@@ -2,7 +2,7 @@ package a8k.app.service.param;
 
 
 import a8k.app.service.param.base.ParamMgr;
-import a8k.app.a8ktype.param.OptModuleExtParam;
+import a8k.app.a8ktype.param.optpos.OptModuleExtParam;
 import a8k.app.dao.db.type.a8kidcard.zenum.A8kOptType;
 import jakarta.annotation.PostConstruct;
 import org.slf4j.Logger;

src/main/java/a8k/app/service/param/OptModuleParamsMgr.java

@@ -2,7 +2,7 @@ package a8k.app.service.param;
 
 
 import a8k.app.service.param.base.ParamMgr;
-import a8k.app.a8ktype.param.OptModuleParam;
+import a8k.app.a8ktype.param.optpos.OptModuleParam;
 import jakarta.annotation.PostConstruct;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;

src/main/java/a8k/app/service/param/PipetteGunLLDParamMgr.java

@@ -2,8 +2,8 @@ package a8k.app.service.param;
 
 import a8k.app.hardware.type.LldType;
 import a8k.app.service.param.base.ParamMgr;
-import a8k.app.a8ktype.param.PipetteGunLLDThresholdParam;
-import a8k.app.a8ktype.param.PipetteGunLLDTypeParam;
+import a8k.app.a8ktype.param.pipette.PipetteGunLLDThresholdParam;
+import a8k.app.a8ktype.param.pipette.PipetteGunLLDTypeParam;
 import jakarta.annotation.PostConstruct;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;

src/main/java/a8k/app/service/param/PipetteGunLLFParamMgr.java

@@ -1,8 +1,8 @@
 package a8k.app.service.param;
 
 import a8k.app.service.param.base.ParamMgr;
-import a8k.app.a8ktype.param.A8kSamplePos;
-import a8k.app.a8ktype.param.PipetteGunLLFParam;
+import a8k.app.a8ktype.param.type.A8kSamplePos;
+import a8k.app.a8ktype.param.pipette.PipetteGunLLFParam;
 import jakarta.annotation.PostConstruct;
 import lombok.extern.slf4j.Slf4j;
 import org.slf4j.Logger;

src/main/java/a8k/app/service/param/TubeFeedingModuleParamMgr.java

@@ -1,8 +1,8 @@
 package a8k.app.service.param;
 
 import a8k.app.service.param.base.ParamMgr;
-import a8k.app.a8ktype.param.TubeFeedingModuleSetting;
-import a8k.app.a8ktype.param.TubeFeedingModulePos;
+import a8k.app.a8ktype.param.tubefeeding.TubeFeedingModuleSetting;
+import a8k.app.a8ktype.param.tubefeeding.TubeFeedingModulePos;
 import jakarta.annotation.PostConstruct;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;

src/main/java/a8k/app/service/param/TubePreProcesPosParamMgr.java

@@ -1,10 +1,10 @@
 package a8k.app.service.param;
 
 import a8k.app.service.param.base.ParamMgr;
-import a8k.app.a8ktype.param.TubePreProcessGripperPos;
-import a8k.app.a8ktype.param.TubePreProcessTubeClamp;
-import a8k.app.a8ktype.param.TubePreProcessYPos;
-import a8k.app.a8ktype.param.TubePreProcessZAxisPos;
+import a8k.app.a8ktype.param.tubepreprocess.TubePreProcessGripperPos;
+import a8k.app.a8ktype.param.tubepreprocess.TubePreProcessTubeClamp;
+import a8k.app.a8ktype.param.tubepreprocess.TubePreProcessYPos;
+import a8k.app.a8ktype.param.tubepreprocess.TubePreProcessZAxisPos;
 import jakarta.annotation.PostConstruct;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;

src/main/java/a8k/app/service/statemgr/TubeStateMgrService.java

@@ -315,11 +315,6 @@ public class TubeStateMgrService {
 		curProcessingTube.setState(TubeState.PROCESSING);
 	}
 
-	synchronized public void changeTubeStateToProcessed() {
-		log.info("试管 状态->已处理 SampleId:{}", curProcessingTube.getSampleId());
-		curProcessingTube.setState(TubeState.PROCESSED);
-	}
-
 	synchronized public void changeTubeStateToError(List<AppError> errors) {
 		log.error("试管 状态->错误 SampleId:{} \n{}", curProcessingTube.getSampleId(), ZJsonHelper.objectToJson(errors));
 		curProcessingTube.setState(TubeState.ERROR);
@@ -379,7 +374,9 @@ public class TubeStateMgrService {
 	synchronized public Boolean isTubeholderHasBeenProcessed() {
 		for (Tube tube : tubeHolder.getTubes()) {
 			if ((!tube.getState().equals(TubeState.EMPTY) &&
-					!tube.getState().equals(TubeState.PROCESS_COMPLETE))) {
+					!tube.getState().equals(TubeState.PROCESS_COMPLETE) &&
+					!tube.getState().equals(TubeState.ERROR)
+			)) {
 				return false;
 			}
 		}

src/main/java/a8k/app/utils/ProjProcessContextUtils.java

@@ -1,19 +1,5 @@
 package a8k.app.utils;
 
-import a8k.SpringBootBeanUtil;
-import a8k.app.service.statemgr.ProjectContextMgrService;
-import a8k.app.a8ktype.state.ProjectTaskContext;
-import a8k.app.a8ktype.state.Tube;
-import a8k.app.service.exparam.HbotConsumableParamMgr;
-import a8k.app.a8ktype.param.A8kSamplePos;
-import a8k.app.dao.db.type.a8kidcard.zenum.A8kReactionFlowType;
-import a8k.app.a8ktype.device.Pos3d;
-import a8k.app.a8ktype.device.A8kTubeHolderType;
-import a8k.app.a8ktype.device.BloodType;
-import org.springframework.util.Assert;
-
-import java.util.List;
-
 public class ProjProcessContextUtils {
 //
 //	public static Integer getShakeTimes(List<ProjectTaskContext> cxts) {

src/main/java/a8k/extui/oldpage/pos_calibration/HbotLargeBottleBSPosCalibration.java

@@ -3,7 +3,7 @@ package a8k.extui.oldpage.pos_calibration;
 import a8k.app.a8ktype.device.ConsumableGroup;
 import a8k.extui.mgr.ExtApiPageMgr;
 import a8k.app.service.lowerctrl.HbotMoveCtrlService;
-import a8k.app.a8ktype.param.HbotLargeBottleBSPos;
+import a8k.app.a8ktype.param.hbotpos.HbotLargeBottleBSPos;
 import a8k.app.hardware.driver.HbotDriver;
 import a8k.app.hardware.driver.PipetteCtrlDriver;
 import a8k.app.service.lowerctrl.HbotMoveExCtrlService;

src/main/java/a8k/extui/oldpage/pos_calibration/HbotLittleBSPosCalibration.java

@@ -5,7 +5,7 @@
 //import a8k.extui.mgr.ExtApiPageMgr;
 //import a8k.app.service.lowerctrl.HbotMoveCtrlService;
 //import a8k.app.service.param.HbotLittleBSPosMgr;
-//import a8k.app.a8ktype.param.HbotLittleBSPos;
+//import a8k.app.a8ktype.param.hbotpos.HbotLittleBSPos;
 //import a8k.app.hardware.driver.HbotDriver;
 //import a8k.app.hardware.driver.PipetteCtrlDriver;
 //import a8k.app.service.lowerctrl.HbotMoveExCtrlService;

src/main/java/a8k/extui/oldpage/pos_calibration/OptModuleParamPosCalibration.java

@@ -1,7 +1,7 @@
 //package a8k.extui.page.pos_calibration;
 //
 //import a8k.app.a8ktype.exception.AppException;
-//import a8k.app.a8ktype.param.OptModuleExtParam;
+//import a8k.app.a8ktype.param.optpos.OptModuleExtParam;
 //import a8k.app.dao.db.type.Parameter;
 //import a8k.app.hardware.driver.StepMotorCtrlDriver;
 //import a8k.app.hardware.driver.type.StepMotorMId;

src/main/java/a8k/extui/oldpage/pos_calibration/TubeFeedingModulePosCalibration.java

@@ -10,8 +10,8 @@ import a8k.app.hardware.driver.type.StepMotorMId;
 import a8k.app.service.lowerctrl.TubeFeedingCtrlService;
 import a8k.app.service.param.TubeFeedingModuleParamMgr;
 import a8k.app.dao.db.type.Parameter;
-import a8k.app.a8ktype.param.TubeFeedingModulePos;
-import a8k.app.a8ktype.param.TubeFeedingModuleSetting;
+import a8k.app.a8ktype.param.tubefeeding.TubeFeedingModulePos;
+import a8k.app.a8ktype.param.tubefeeding.TubeFeedingModuleSetting;
 import a8k.app.a8ktype.type.TubeHolderScanResult;
 import a8k.app.a8ktype.error.AECodeError;
 import a8k.app.a8ktype.exception.AppException;

src/main/java/a8k/extui/oldpage/pos_calibration/TubePreProcesPosCalibration.java

@@ -10,10 +10,10 @@ import a8k.app.hardware.extdriver.MotorEnableExDriver;
 import a8k.app.hardware.extdriver.MotorMoveZeroExDriver;
 import a8k.app.service.lowerctrl.TubePreProcesModuleCtrlService;
 import a8k.app.service.param.TubePreProcesPosParamMgr;
-import a8k.app.a8ktype.param.TubePreProcessGripperPos;
-import a8k.app.a8ktype.param.TubePreProcessTubeClamp;
-import a8k.app.a8ktype.param.TubePreProcessYPos;
-import a8k.app.a8ktype.param.TubePreProcessZAxisPos;
+import a8k.app.a8ktype.param.tubepreprocess.TubePreProcessGripperPos;
+import a8k.app.a8ktype.param.tubepreprocess.TubePreProcessTubeClamp;
+import a8k.app.a8ktype.param.tubepreprocess.TubePreProcessYPos;
+import a8k.app.a8ktype.param.tubepreprocess.TubePreProcessZAxisPos;
 import a8k.app.a8ktype.exception.AppException;
 import a8k.app.utils.ZJsonHelper;
 import jakarta.annotation.PostConstruct;

src/main/java/a8k/extui/page/opt_calibration/OptModuleParamCalibration.java

@@ -1,22 +1,15 @@
 package a8k.extui.page.opt_calibration;
 
-import a8k.app.a8ktype.device.BloodType;
 import a8k.app.a8ktype.device.ConsumableGroup;
 import a8k.app.a8ktype.device.IncubatorPos;
-import a8k.app.a8ktype.type.ReactionResult;
 import a8k.app.service.lowerctrl.DeviceInitCtrlService;
 import a8k.extui.mgr.ExtApiPageMgr;
 import a8k.extui.type.ret.A8kScanCurve;
 import a8k.extui.type.ExtApiStatu;
 import a8k.app.service.lowerctrl.OptScanModuleCtrlService;
 import a8k.app.service.lowerctrl.PlateBoxCtrlService;
-import a8k.app.hardware.driver.OptModuleDriver;
-import a8k.app.hardware.driver.StepMotorCtrlDriver;
-import a8k.app.hardware.driver.type.StepMotorMId;
-import a8k.app.hardware.extdriver.MotorEnableExDriver;
 import a8k.app.service.param.OptModuleExtParamsMgr;
-import a8k.app.a8ktype.param.OptModuleExtParam;
-import a8k.app.dao.db.type.Parameter;
+import a8k.app.a8ktype.param.optpos.OptModuleExtParam;
 import a8k.app.dao.db.type.a8kidcard.zenum.A8kOptType;
 import a8k.app.a8ktype.exception.AppException;
 import a8k.app.utils.ZList;

src/main/java/a8k/extui/page/pos_calibration/P02TubeFeedingModulePosCalibrationPage.java

@@ -1,7 +1,7 @@
 package a8k.extui.page.pos_calibration;
 
-import a8k.app.a8ktype.param.TubeFeedingModulePos;
-import a8k.app.a8ktype.param.TubeFeedingModuleSetting;
+import a8k.app.a8ktype.param.tubefeeding.TubeFeedingModulePos;
+import a8k.app.a8ktype.param.tubefeeding.TubeFeedingModuleSetting;
 import a8k.app.service.param.TubeFeedingModuleParamMgr;
 import a8k.extui.mgr.ExtApiPageMgr;
 import jakarta.annotation.PostConstruct;

src/main/java/a8k/extui/page/pos_calibration/P03TubePreProcesPosCalibrationPage.java

@@ -1,9 +1,9 @@
 package a8k.extui.page.pos_calibration;
 
-import a8k.app.a8ktype.param.TubePreProcessGripperPos;
-import a8k.app.a8ktype.param.TubePreProcessTubeClamp;
-import a8k.app.a8ktype.param.TubePreProcessYPos;
-import a8k.app.a8ktype.param.TubePreProcessZAxisPos;
+import a8k.app.a8ktype.param.tubepreprocess.TubePreProcessGripperPos;
+import a8k.app.a8ktype.param.tubepreprocess.TubePreProcessTubeClamp;
+import a8k.app.a8ktype.param.tubepreprocess.TubePreProcessYPos;
+import a8k.app.a8ktype.param.tubepreprocess.TubePreProcessZAxisPos;
 import a8k.app.service.param.TubePreProcesPosParamMgr;
 import a8k.extui.mgr.ExtApiPageMgr;
 import jakarta.annotation.PostConstruct;

src/main/java/a8k/extui/page/pos_calibration/P04ReactionPlatesTransmitControlerCalibrationPage.java

@@ -1,6 +1,6 @@
 package a8k.extui.page.pos_calibration;
 
-import a8k.app.a8ktype.param.OptModuleParam;
+import a8k.app.a8ktype.param.optpos.OptModuleParam;
 import a8k.app.service.param.OptModuleParamsMgr;
 import a8k.app.service.param.PlatesBoxPosParamMgr;
 import a8k.app.service.param.TurntablePosParamMgr;

src/main/java/a8k/extui/page/pos_calibration/P21HbotLittleBSPosCalibrationPage.java

@@ -1,7 +1,7 @@
 package a8k.extui.page.pos_calibration;
 
 import a8k.app.a8ktype.device.Pos2d;
-import a8k.app.a8ktype.param.HbotLittleBSPos;
+import a8k.app.a8ktype.param.hbotpos.HbotLittleBSPos;
 import a8k.app.service.param.HbotLittleBSPosMgr;
 import a8k.extui.mgr.ExtApiPageMgr;
 import jakarta.annotation.PostConstruct;

src/main/java/a8k/extui/page/pos_calibration/P23HbotLargeBottleBSPosCalibrationPage.java

@@ -1,7 +1,7 @@
 package a8k.extui.page.pos_calibration;
 
 import a8k.app.a8ktype.device.Pos2d;
-import a8k.app.a8ktype.param.HbotLargeBottleBSPos;
+import a8k.app.a8ktype.param.hbotpos.HbotLargeBottleBSPos;
 import a8k.app.service.param.HbotLargeBottleBSPosMgr;
 import a8k.extui.mgr.ExtApiPageMgr;
 import jakarta.annotation.PostConstruct;

src/main/java/a8k/extui/page/pos_calibration/P25HbotSamplePosCalibrationPage.java

@@ -1,9 +1,7 @@
 package a8k.extui.page.pos_calibration;
 
-import a8k.app.a8ktype.device.Pos2d;
 import a8k.app.a8ktype.device.Pos3d;
-import a8k.app.a8ktype.param.HbotSamplePos;
-import a8k.app.service.param.Hbot2DCodeScanParamMgr;
+import a8k.app.a8ktype.param.hbotpos.HbotSamplePos;
 import a8k.app.service.param.HbotSamplePosParamMgr;
 import a8k.extui.mgr.ExtApiPageMgr;
 import jakarta.annotation.PostConstruct;

src/main/java/a8k/extui/page/verification/P33HbotSamplePosVerificationPage.java

@@ -3,7 +3,7 @@ package a8k.extui.page.verification;
 
 
 import a8k.app.a8ktype.exception.AppException;
-import a8k.app.a8ktype.param.HbotSamplePos;
+import a8k.app.a8ktype.param.hbotpos.HbotSamplePos;
 import a8k.app.service.lowerctrl.HbotMoveExCtrlService;
 import a8k.extui.mgr.ExtApiPageMgr;
 import jakarta.annotation.PostConstruct;

src/main/java/a8k/extui/page/verification/P34LiquidOperationTestPage.java

@@ -2,7 +2,7 @@ package a8k.extui.page.verification;
 
 import a8k.app.a8ktype.device.*;
 import a8k.app.a8ktype.exception.AppException;
-import a8k.app.a8ktype.param.A8kSamplePos;
+import a8k.app.a8ktype.param.type.A8kSamplePos;
 import a8k.app.service.lowerctrl.LiquidOperationCtrlService;
 import a8k.extui.mgr.ExtApiPageMgr;
 import a8k.extui.type.ExtUIPageCfg;

src/main/java/a8k/extui/page/verification/P51FullFlowVerificationPage.java

@@ -2,14 +2,12 @@ package a8k.extui.page.verification;
 
 import a8k.OS;
 import a8k.app.a8kproj.A8kReactionResultComputer;
-import a8k.app.a8kproj.optalgo.type.OptScanResult;
 import a8k.app.a8ktype.device.*;
 import a8k.app.a8ktype.exception.AppException;
-import a8k.app.a8ktype.param.A8kSamplePos;
+import a8k.app.a8ktype.param.type.A8kSamplePos;
 import a8k.app.a8ktype.state.SampleInfo;
 import a8k.app.a8ktype.type.ReactionResult;
 import a8k.app.a8ktype.type.TubeHolderScanResult;
-import a8k.app.constant.AppConstant;
 import a8k.app.dao.db.type.ProjExtInfoCard;
 import a8k.app.dao.db.type.a8kidcard.zenum.A8kOptType;
 import a8k.app.dao.db.type.a8kidcard.zenum.A8kReactionFlowType;