改善部分逻辑

3 weeks ago · 131d3a5713
22 changed files with 424 additions and 105 deletions
--- a/src/main/java/a8k/app/channel/iflytophald/channel/A8kCanBusConnection.java
+++ b/src/main/java/a8k/app/channel/iflytophald/channel/A8kCanBusConnection.java
@ -210,19 +210,22 @@ public class A8kCanBusConnection extends WebSocketClient {
 			restartCanif();
 		}

-		for (int i = 0; i < 5; i++) {
-			try {
-				return this.priSend(pack, overtime);
-			} catch (AppException e) {
-				if (!e.error.code.equals(A8kEcode.LOW_ERROR_OVERTIME)) {
-					throw e;
+		for (int j = 0; j < 2; j++) {
+			for (int i = 0; i < 5; i++) {
+				try {
+					return this.priSend(pack, overtime);
+				} catch (AppException e) {
+					if (!e.error.code.equals(A8kEcode.LOW_ERROR_OVERTIME)) {
+						throw e;
+					}
 				}
+				log.error("send cmd {} {} fail", pack, pack.toByteString());
+				OS.hsleep(100);
+				log.error("retry {}", i);
 			}
-			log.error("send cmd {} {} fail", pack, pack.toByteString());
 			restartCanif();
-			//			OS.hsleep(1000);
-			log.error("retry {}", i);
 		}
+
 		throw AppException.of(new AEHardwareError(A8kEcode.LOW_ERROR_OVERTIME, MId.valueOf(pack.getModuleId()), CmdId.valueOf(pack.getCmdId())));
 	}

--- a/src/main/java/a8k/app/channel/iflytophald/driver/StepMotorCtrlDriver.java
+++ b/src/main/java/a8k/app/channel/iflytophald/driver/StepMotorCtrlDriver.java
@ -5,20 +5,77 @@ import a8k.app.constant.ActionOvertimeConstant;
 import a8k.app.channel.iflytophald.type.protocol.*;
 import a8k.app.type.exception.AppException;
 import a8k.app.utils.ZJsonHelper;
+import a8k.iflyutils.BitUtils;
 import com.fasterxml.jackson.databind.node.ObjectNode;
 import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
 import org.slf4j.Logger;
 import org.springframework.stereotype.Component;

@Component
@RequiredArgsConstructor
+@Slf4j
 public class StepMotorCtrlDriver {
-	static Logger logger = org.slf4j.LoggerFactory.getLogger(StepMotorCtrlDriver.class);

 	final private A8kCanBusService canBus;

 	private final ActionOvertimeConstant actionOvertimeConstant;

+	public static class StepMotorErrorInfo {
+		public A8kEcode ecode;
+
+		public Integer sgResult;
+		public Integer fsActive;
+		public Integer csActual;
+		public Integer stallGuard;
+		public Integer ot;
+		public Integer otpw;
+		public Integer s2ga;
+		public Integer s2gb;
+		public Integer ola;
+		public Integer olb;
+		public Integer stst;
+
+		static StepMotorErrorInfo build(A8kEcode ecode, Integer detailEcode) throws AppException {
+			StepMotorErrorInfo errorInfo = new StepMotorErrorInfo();
+			errorInfo.ecode = ecode;
+			int ioff = 0;
+			errorInfo.sgResult   = BitUtils.getBitValueAsInt(detailEcode, ioff, 10);
+			ioff += 10;
+			ioff += 5;
+			errorInfo.fsActive   = BitUtils.getBitValueAsInt(detailEcode, ioff, 1);
+			ioff += 1;
+			errorInfo.csActual   = BitUtils.getBitValueAsInt(detailEcode, ioff, 5);
+			ioff += 5;
+			ioff += 3;
+			errorInfo.stallGuard = BitUtils.getBitValueAsInt(detailEcode, ioff, 1);
+			ioff += 1;
+			errorInfo.ot         = BitUtils.getBitValueAsInt(detailEcode, ioff, 1);
+			ioff += 1;
+			errorInfo.otpw       = BitUtils.getBitValueAsInt(detailEcode, ioff, 1);
+			ioff += 1;
+			errorInfo.s2ga       = BitUtils.getBitValueAsInt(detailEcode, ioff, 1);
+			ioff += 1;
+			errorInfo.s2gb       = BitUtils.getBitValueAsInt(detailEcode, ioff, 1);
+			ioff += 1;
+			errorInfo.ola        = BitUtils.getBitValueAsInt(detailEcode, ioff, 1);
+			ioff += 1;
+			errorInfo.olb        = BitUtils.getBitValueAsInt(detailEcode, ioff, 1);
+			ioff += 1;
+			errorInfo.stst       = BitUtils.getBitValueAsInt(detailEcode, ioff, 1);
+			return errorInfo;
+		}
+
+		public static void main(String[] args) {
+		}
+	}
+
+	public StepMotorErrorInfo readErrorInfo(StepMotorMId mid) throws AppException {
+		A8kEcode ecode       = canBus.moduleGetError(mid.mid);
+		Integer  detailEcode = canBus.moduleGetDetailError(mid.mid);
+		return StepMotorErrorInfo.build(ecode, detailEcode);
+	}
+
 	public void stepMotorEasyMoveBy(StepMotorMId id, Integer dpos) throws AppException {
 		canBus.callcmd(id.mid, CmdId.step_motor_easy_move_by, dpos);
 	}
@ -62,7 +119,7 @@ public class StepMotorCtrlDriver {
 	}

 	public void stepMotorEasyMoveByBlock(StepMotorMId id, Integer dpos) throws AppException {
-		logger.debug("stepMotorEasyMoveByBlock {} {}", id, dpos);
+		log.debug("stepMotorEasyMoveByBlock {} {}", id, dpos);
 		stepMotorEasyMoveBy(id, dpos);
 		canBus.waitForMod(id.mid, actionOvertimeConstant.get(id, CmdId.step_motor_easy_move_by));
 	}
@ -72,13 +129,13 @@ public class StepMotorCtrlDriver {
 	}

 	public void stepMotorEasyMoveToBlock(StepMotorMId id, Integer pos) throws AppException {
-		logger.debug("stepMotorEasyMoveToBlock {} {}", id, pos);
+		log.debug("stepMotorEasyMoveToBlock {} {}", id, pos);
 		stepMotorEasyMoveTo(id, pos);
 		canBus.waitForMod(id.mid, actionOvertimeConstant.get(id, CmdId.step_motor_easy_move_to));
 	}

 	public void stepMotorEasyMoveToZeroBlock(StepMotorMId id) throws AppException {
-		logger.debug("stepMotorEasyMoveToZeroBlock {}", id);
+		log.debug("stepMotorEasyMoveToZeroBlock {}", id);
 		stepMotorEasyMoveToZero(id);
 		canBus.waitForMod(id.mid, actionOvertimeConstant.get(id, CmdId.step_motor_easy_move_to_zero));
 	}
@ -166,7 +223,7 @@ public class StepMotorCtrlDriver {
 		ObjectNode node = ZJsonHelper.createObjectNode();
 		for (StepMotorRegIndex regIndex : StepMotorRegIndex.values()) {
 			Integer regVal = getReg(id, regIndex);
-			logger.debug("read reg {} -> {}", regIndex, regVal);
+			log.debug("read reg {} -> {}", regIndex, regVal);
 			node.put(regIndex.name(), getReg(id, regIndex));
 		}
 		return node;
--- a/src/main/java/a8k/app/channel/iflytophald/type/protocol/RegIndex.java
+++ b/src/main/java/a8k/app/channel/iflytophald/type/protocol/RegIndex.java
@ -209,6 +209,8 @@ public enum RegIndex {
 	kreg_step_motor_dzero_pos(10191), // 驱动器处于调试模式
 	kret_step_motor_pos_devi_tolerance(10192), // 位置偏差容忍度
 	kret_step_motor_io_trigger_append_distance(10193), // 移动到io时，附加的距离
+	kreg_step_motor_zero_io_mirror(10194), //零点IO有效位是否翻转
+	kreg_step_motor_limit_io_mirror(10195), //限位IO有效位是否翻转

 	/***********************************************************************************************************************
 	 * step_motor *
--- a/src/main/java/a8k/app/channel/iflytophald/type/protocol/StepMotorRegIndex.java
+++ b/src/main/java/a8k/app/channel/iflytophald/type/protocol/StepMotorRegIndex.java
@ -44,8 +44,8 @@ public enum StepMotorRegIndex {
 	kreg_step_motor_dzero_pos(RegIndex.kreg_step_motor_dzero_pos), // 驱动器处于调试模式
 	kret_step_motor_pos_devi_tolerance(RegIndex.kret_step_motor_pos_devi_tolerance), // 位置偏差容忍度
 	kret_step_motor_io_trigger_append_distance(RegIndex.kret_step_motor_io_trigger_append_distance), // 移动到io时，附加的距离
-
-
+	kreg_step_motor_zero_io_mirror(RegIndex.kreg_step_motor_zero_io_mirror), // 零点io镜像
+	kreg_step_motor_limit_io_mirror(RegIndex.kreg_step_motor_limit_io_mirror), // 限位io镜像
 	;
 	public final RegIndex regIndex;

--- a/src/main/java/a8k/app/config/A8kSubModuleInitRegConfig.java
+++ b/src/main/java/a8k/app/config/A8kSubModuleInitRegConfig.java
@ -115,6 +115,8 @@ public class A8kSubModuleInitRegConfig {
 		addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_dzero_pos);
 		addRegMarker(ModuleType.TMCStepMotor, RegIndex.kret_step_motor_pos_devi_tolerance);
 		addRegMarker(ModuleType.TMCStepMotor, RegIndex.kret_step_motor_io_trigger_append_distance);
+		addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_zero_io_mirror);
+		addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_limit_io_mirror);



--- a/src/main/java/a8k/app/constant/MiniServoConstant.java
+++ b/src/main/java/a8k/app/constant/MiniServoConstant.java
@ -22,7 +22,7 @@ public class MiniServoConstant {
 			//摇匀模组夹爪
 			MiniServoMId.ShakeModGripperSV, new MiniServoFixPosConfig() {{
 				zeroPos = 1600;
-				refPos  = 1800;//完全张开的位置
+				refPos  = 1477;//完全闭合的位置
 			}},
 			//试管架夹紧
 			MiniServoMId.ShakeModTubeScanerClampingSV, new MiniServoFixPosConfig() {{
--- a/src/main/java/a8k/app/service/DeviceVirtualStateMgrService.java
+++ b/src/main/java/a8k/app/service/DeviceVirtualStateMgrService.java
@ -14,12 +14,12 @@ import a8k.app.type.PreReactionGridGroup;
 import a8k.app.type.a8k.BloodType;
 import a8k.app.type.a8k.ConsumableGroup;
 import a8k.app.type.a8k.LittleBottleConsumableType;
+import a8k.app.type.a8k.container.A8kConsumableContainer;
 import a8k.app.type.a8k.proj.ProjBriefInfo;
 import a8k.app.type.a8k.state.*;
-import a8k.app.type.a8k.state.enumtype.IncubationSubTankState;
-import a8k.app.type.a8k.state.enumtype.TubeHolderState;
-import a8k.app.type.a8k.state.enumtype.TubeState;
+import a8k.app.type.a8k.state.enumtype.*;
 import a8k.app.type.error.AppError;
+import a8k.app.type.exception.AppException;
 import a8k.app.utils.ZList;
 import cn.hutool.core.util.ObjectUtil;
 import lombok.RequiredArgsConstructor;
@ -34,6 +34,27 @@ import java.util.Date;
 public class DeviceVirtualStateMgrService {


+	synchronized public A8kConsumableContainer getVirtualConsumableContainerState() {
+		//虚拟状态生成模式
+		A8kConsumableContainer state = new A8kConsumableContainer();
+		state.tips[0].tipNum = 100;
+		state.tips[1].tipNum = 101;
+		state.tips[2].tipNum = 102;
+		for (int i = 0; i < 6; i++) {
+			try {
+				FakeA8kConsumableContainerFactory.buildA8kConsumableContainerState(state, i);
+			} catch (AppException ignored) {
+			}
+		}
+		return state;
+	}
+
+	synchronized public Integer getVirtualConsumableContainerStateVersion() {
+		//虚拟状态生成模式
+		return Integer.MAX_VALUE;
+	}
+
+
 	/**
 	 * 获取虚拟孵育盘状态
 	 * @return 虚拟孵育盘状态
@ -154,6 +175,11 @@ public class DeviceVirtualStateMgrService {
 		return tubePosState;
 	}

+	public Integer getVirtualTubeStateVersion() {
+		//虚拟状态生成模式
+		return Integer.MAX_VALUE;
+	}
+

 	public PreReactionGridGroup getFakePreReactionGridGroup(ConsumableGroup group) {
 		PreReactionGridGroup gridGroup = new PreReactionGridGroup(group);
@ -255,4 +281,32 @@ public class DeviceVirtualStateMgrService {
 		return virtualWarningState;

 	}
+
+	synchronized public DeviceWorkState getVirtualDeviceWorkState() {
+		DeviceWorkState deviceWorkState = new DeviceWorkState();
+		deviceWorkState.workState = A8kWorkState.WORKING;
+		return deviceWorkState;
+	}
+
+	synchronized public Integer getVirtualDeviceWorkStateVersion() {
+		//虚拟状态生成模式
+		return Integer.MAX_VALUE;
+	}
+
+	synchronized public OptScanModuleState getVirtualOptScanModuleState() {
+		OptScanModuleState optScanModuleState = new OptScanModuleState();
+		optScanModuleState.state      = OptScanModuleStateEnum.SCANNING;
+		optScanModuleState.sampleInfo = new SampleInfo(
+				"SAMPLEID-123456", 1, true, false, BloodType.WHOLE_BLOOD, "1234567890", "2250103_003"
+		);
+		optScanModuleState.setProjInfo(new ProjBriefInfo(1, "hsCRP", "CA", "#DC143C"));
+		optScanModuleState.setProjId(1);
+		optScanModuleState.setLotId("CA123456");
+		return optScanModuleState;
+	}
+
+	synchronized public Integer getVirtualOptScanModuleStateVersion() {
+		//虚拟状态生成模式
+		return Integer.MAX_VALUE;
+	}
 }
--- a/src/main/java/a8k/app/service/data/SubModuleRegInitialValueMgrService.java
+++ b/src/main/java/a8k/app/service/data/SubModuleRegInitialValueMgrService.java
@ -1,5 +1,6 @@
 package a8k.app.service.data;

+import a8k.app.channel.iflytophald.type.protocol.A8kEcode;
 import a8k.app.type.exception.AppException;
 import a8k.app.config.A8kSubModuleInitRegConfig;
 import a8k.app.dao.SubModuleRegInitialValueDao;
@ -41,7 +42,18 @@ public class SubModuleRegInitialValueMgrService {

 			for (RegIndex regIndex : regIndexes) {
 				log.info("read {}({})-{}", mid, mid.index, regIndex);
-				Integer val = canBus.moduleGetReg(mid, regIndex);
+
+				Integer val = null;
+				try {
+					val = canBus.moduleGetReg(mid, regIndex);
+				} catch (AppException e) {
+					if (e.getError().eq(A8kEcode.LOW_ERROR_MODULE_NOT_FIND_REG)) {
+						log.warn("read reg {}({})-{} fail, register not found, skip", mid, mid.index, regIndex);
+						continue;
+					} else {
+						throw e;
+					}
+				}
 				regcache.add(new SubModuleRegInitialValue(mid, regIndex, val));
 			}
 		}
@ -79,7 +91,15 @@ public class SubModuleRegInitialValueMgrService {
 					continue;

 				log.info(String.format("= init %s(%d) %-45s: %d", mid, mid.index, regIndex, val.regInitVal));
-				canBus.moduleSetReg(mid, regIndex, val.regInitVal);
+				try {
+					canBus.moduleSetReg(mid, regIndex, val.regInitVal);
+				} catch (AppException e) {
+					if (e.getError().eq(A8kEcode.LOW_ERROR_MODULE_NOT_FIND_REG)) {
+						log.warn("set reg {}({})-{} fail, register not found, skip", mid, mid.index, regIndex);
+					} else {
+						throw e;
+					}
+				}
 			}
 			log.info("=");
 		}
--- a/src/main/java/a8k/app/service/os/OSBeepCtrlService.java
+++ b/src/main/java/a8k/app/service/os/OSBeepCtrlService.java
@ -59,6 +59,11 @@ public class OSBeepCtrlService {
 				continue;
 			}

+			if (!gStateMgrService.isDeviceInited()) {
+				OS.forceSleep(1000);
+				continue;
+			}
+
 			if (!beepStateIsSync) {
 				setBeepState(beepState);
 			}
--- a/src/main/java/a8k/app/service/statemgr/ConsumablesMgrService.java
+++ b/src/main/java/a8k/app/service/statemgr/ConsumablesMgrService.java
@ -4,6 +4,7 @@ import a8k.app.dao.AppStatePersistenceDao;
 import a8k.app.dao.type.combination.ProjBuildInInfo;
 import a8k.app.dao.type.db.ProjExtInfoCard;
 import a8k.app.factory.FakeA8kConsumableContainerFactory;
+import a8k.app.service.DeviceVirtualStateMgrService;
 import a8k.app.service.data.ProjInfoMgrService;
 import a8k.app.service.statemgr.consumables_mgr.LarBottleContainerStateMgr;
 import a8k.app.service.statemgr.consumables_mgr.LittBottleContainerStateMgr;
@ -63,8 +64,9 @@ public class ConsumablesMgrService {
 	private final TipStateMgr                    tipStateMgr;
 	private final PreReactionStateMgr            preReactionStateMgr;

-	private final AppStatePersistenceDao appStatePersistenceDao;
-	private final ProjInfoMgrService     projInfoMgrService;
+	private final AppStatePersistenceDao       appStatePersistenceDao;
+	private final ProjInfoMgrService           projInfoMgrService;
+	private final DeviceVirtualStateMgrService deviceVirtualStateMgrService;

 	@PostConstruct
 	void init() {
@ -78,17 +80,7 @@ public class ConsumablesMgrService {
 	synchronized public A8kConsumableContainer getState() {
 		A8kConsumableContainer state = new A8kConsumableContainer();
 		if (gStateMgrService.isInMode(DeviceRunMode.VirtualStateGenerateMode)) {
-			//虚拟状态生成模式
-			state.tips[0].tipNum = 100;
-			state.tips[1].tipNum = 101;
-			state.tips[2].tipNum = 102;
-			for (int i = 0; i < 6; i++) {
-				try {
-					FakeA8kConsumableContainerFactory.buildA8kConsumableContainerState(state, i);
-				} catch (AppException ignored) {
-				}
-			}
-			return state;
+			return deviceVirtualStateMgrService.getVirtualConsumableContainerState();
 		}

 		state.tips               = tipStateMgr.tips;
@ -100,6 +92,9 @@ public class ConsumablesMgrService {
 	}

 	synchronized public Integer getStateVersion() {
+		if (gStateMgrService.isInMode(DeviceRunMode.VirtualStateGenerateMode)) {
+			return deviceVirtualStateMgrService.getVirtualConsumableContainerStateVersion();
+		}
 		return stateVersion;
 	}

@ -170,7 +165,7 @@ public class ConsumablesMgrService {
 			ReactionPlateContainerInfo reactionPlateContainerInfo,
 			LittBottleConsumablesInfo littBottleConsumablesInfo,
 			LargeBottleConsumablesInfo largeBottleConsumablesInfo) {
-		
+
 		reactionPlateContainerStateMgr.uninstall(ConsumableGroup.of(ch));
 		littBottleContainerStateMgr.uninstall(ConsumableGroup.of(ch));
 		larBottleContainerStateMgr.uninstall(ConsumableGroup.of(ch));
--- a/src/main/java/a8k/app/service/statemgr/DeviceWorkStateMgrService.java
+++ b/src/main/java/a8k/app/service/statemgr/DeviceWorkStateMgrService.java
@ -1,5 +1,6 @@
 package a8k.app.service.statemgr;

+import a8k.app.service.DeviceVirtualStateMgrService;
 import a8k.app.type.DeviceRunMode;
 import a8k.app.type.a8k.state.DeviceWorkState;
 import a8k.app.type.a8k.state.enumtype.A8kWorkState;
@ -17,20 +18,22 @@ import java.util.List;
@RequiredArgsConstructor
 public class DeviceWorkStateMgrService {
 	final private GStateMgrService gstate;
+	private final DeviceVirtualStateMgrService deviceVirtualStateMgrService;
 	DeviceWorkState deviceWorkState = new DeviceWorkState();
 	Integer         version         = 0;


 	synchronized public DeviceWorkState getDeviceWorkState() {
 		if (gstate.isInMode(DeviceRunMode.VirtualStateGenerateMode)) {
-			var cpy = ObjectUtil.clone(deviceWorkState);
-			cpy.workState = A8kWorkState.WORKING;
-			return cpy;
+			return deviceVirtualStateMgrService.getVirtualDeviceWorkState();
 		}
 		return deviceWorkState;
 	}

 	synchronized public Integer getVersion() {
+		if (gstate.isInMode(DeviceRunMode.VirtualStateGenerateMode)) {
+			return deviceVirtualStateMgrService.getVirtualDeviceWorkStateVersion();
+		}
 		return version;
 	}

@ -139,7 +142,6 @@ public class DeviceWorkStateMgrService {
 		return deviceWorkState.workTaskType.equals(A8kWorkTaskType.EngineerTask);
 	}

-
 	//
 	//		ERROR FLAG FUNCTIONS
 	//
--- a/src/main/java/a8k/app/service/statemgr/OptScanModuleStateMgr.java
+++ b/src/main/java/a8k/app/service/statemgr/OptScanModuleStateMgr.java
@ -1,5 +1,6 @@
 package a8k.app.service.statemgr;

+import a8k.app.service.DeviceVirtualStateMgrService;
 import a8k.app.service.utils.ProjInfoUtils;
 import a8k.app.type.DeviceRunMode;
 import a8k.app.type.a8k.BloodType;
@ -14,6 +15,7 @@ import a8k.app.dao.type.combination.ProjBuildInInfo;
 import cn.hutool.core.util.ObjectUtil;
 import jakarta.annotation.Resource;
 import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Component;

@Component
@ -26,7 +28,9 @@ public class OptScanModuleStateMgr {
 	Integer version = 0;

 	//光学模组状态
-	private final OptScanModuleState optScanModule = new OptScanModuleState();
+	private final OptScanModuleState           optScanModule = new OptScanModuleState();
+	@Autowired
+	private       DeviceVirtualStateMgrService deviceVirtualStateMgrService;

 	synchronized public Boolean isEmpty() {
 		return optScanModule.state.equals(OptScanModuleStateEnum.EMPTY);
@ -51,22 +55,14 @@ public class OptScanModuleStateMgr {

 	synchronized public OptScanModuleState getOptScanModule() {
 		if (gStateMgrService.isInMode(DeviceRunMode.VirtualStateGenerateMode)) {
-			OptScanModuleState virstate = new OptScanModuleState();
-			virstate.state      = OptScanModuleStateEnum.SCANNING;
-			virstate.sampleInfo = new SampleInfo(
-					"SAMPLEID-123456", 1, true, false, BloodType.WHOLE_BLOOD, "1234567890", "2250103_003"
-			);
-			virstate.setProjInfo(new ProjBriefInfo(1, "hsCRP", "CA", UtilsProjectColorAllocer.getProjColor(1)));
-			virstate.setProjId(1);
-			virstate.setLotId("CA123456");
-			return virstate;
+			return deviceVirtualStateMgrService.getVirtualOptScanModuleState();
 		}
 		return ObjectUtil.cloneByStream(optScanModule);
 	}

 	synchronized public Integer getStateVersion() {
 		if (gStateMgrService.isInMode(DeviceRunMode.VirtualStateGenerateMode)) {
-			return 1;
+			return deviceVirtualStateMgrService.getVirtualOptScanModuleStateVersion();
 		}
 		return version;
 	}
--- a/src/main/java/a8k/app/service/statemgr/TubeStateMgr.java
+++ b/src/main/java/a8k/app/service/statemgr/TubeStateMgr.java
@ -75,6 +75,9 @@ public class TubeStateMgr {
 	}

 	public synchronized Integer getVersion() {
+		if (gStateMgrService.isInMode(DeviceRunMode.VirtualStateGenerateMode)) {
+			return deviceVirtualStateMgrService.getVirtualTubeStateVersion();
+		}
 		return version;
 	}

--- a/src/main/java/a8k/extui/page/driver/MotorCtrlPage.java
+++ b/src/main/java/a8k/extui/page/driver/MotorCtrlPage.java
@ -94,6 +94,10 @@ public class MotorCtrlPage {
 		return stepMotorCtrlDriver.stepMotorReadPos(id);
 	}

+	public StepMotorCtrlDriver.StepMotorErrorInfo readErrorInfo() throws AppException {
+		return stepMotorCtrlDriver.readErrorInfo(id);
+	}
+
 	public Object readIOState() throws AppException {
 		ZJsonNode node = new ZJsonNode();
 		node.get("IO1").set(stepMotorCtrlDriver.stepMotorReadIoState(id, 0));
@ -232,6 +236,7 @@ public class MotorCtrlPage {
 		page.addFunction("读取IO状态", this::readIOState);
 		page.addFunction("读取位置", this::readPos);
 		page.addFunction("读取编码器位置", this::readEncPos);
+		page.addFunction("读取错误信息", this::readErrorInfo);


 		extApiPageMgr.addPage(page);
--- a/src/main/java/a8k/extui/page/extsetting/device/OSDeviceInfoMgrPage.java
+++ b/src/main/java/a8k/extui/page/extsetting/device/OSDeviceInfoMgrPage.java
@ -0,0 +1,45 @@
+package a8k.extui.page.extsetting.device;
+
+import a8k.app.service.os.OSDeviceInfoMgrService;
+import a8k.app.type.exception.AppException;
+import a8k.extui.mgr.ExtApiPageMgr;
+import jakarta.annotation.PostConstruct;
+import jakarta.annotation.Resource;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+@Component
+@RequiredArgsConstructor
+@Slf4j
+public class OSDeviceInfoMgrPage {
+	private final ExtApiPageMgr          extApiPageMgr;
+	private final OSDeviceInfoMgrService osDeviceInfoMgrService;
+
+	public void setSN(String sn) throws AppException {
+	}
+
+	public String readSN() {
+		return osDeviceInfoMgrService.readSN();
+	}
+//
+//	public String setAssetId(String assetId) throws AppException {
+//		setEnv("/iflytop/env/assetid", assetId, gStateMgrService::setAssetId);
+//		return assetId;
+//	}
+
+
+	@PostConstruct
+	void init() {
+
+		var page = extApiPageMgr.newPage(this);
+//
+//		page.newGroup("设置");
+//		page.addFunction("设置TipG1-000坐标", this::setTipG1Pos000)
+//				.setParamVal("x", () -> hbotTipPosMgr.getTipPosCfg(TipGroupPos.TipG1).tip000.x)
+//				.setParamVal("y", () -> hbotTipPosMgr.getTipPosCfg(TipGroupPos.TipG1).tip000.y);
+//
+
+		extApiPageMgr.addPage(page);
+	}
+}
--- a/src/main/java/a8k/extui/page/hardwaretest/InputIOStateHardwareTestPage.java
+++ b/src/main/java/a8k/extui/page/hardwaretest/InputIOStateHardwareTestPage.java
@ -38,7 +38,7 @@ public class InputIOStateHardwareTestPage {
 	@ExtApiStatu(name = "废料仓满溢检测", order = 7)
 	public Boolean getRecycleBinOverflowPPS() throws AppException {return inputDetectDriver.getIOState(InputIOId.RecycleBinOverflowPPS);}

-	@ExtApiStatu(name = "板夹仓-仓门光电", order = 8)
+	@ExtApiStatu(name = "板夹仓-仓门光电(盖:1 不盖:0)", order = 8)
 	public Boolean getPlateBoxCoverClosurePPS() throws AppException {return inputDetectDriver.getIOState(InputIOId.PlateBoxCoverClosurePPS);}

 	@ExtApiStatu(name = "板夹仓-卡板光电", order = 9)
--- a/src/main/java/a8k/extui/page/hardwaretest/MotorHardwareTestPage.java
+++ b/src/main/java/a8k/extui/page/hardwaretest/MotorHardwareTestPage.java
@ -85,9 +85,9 @@ public class MotorHardwareTestPage {
 		stepMotorCtrlDriver.stepMotorEasyMoveByBlock(StepMotorMId.FeedingModXM, -step);
 	}

-	public void feedingModXMZero() throws AppException {
+	public Integer feedingModXMZero() throws AppException {
 		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.FeedingModXM, 1);
-		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.FeedingModXM);
+		return stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.FeedingModXM);
 	}

 	public void feedingModeStop() throws AppException {
@ -116,9 +116,9 @@ public class MotorHardwareTestPage {
 		stepMotorCtrlDriver.stepMotorEasyMoveByBlock(StepMotorMId.ShakeModGripperZM, step);
 	}

-	public void shakeModGripperZMZero() throws AppException {
+	public Integer shakeModGripperZMZero() throws AppException {
 		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModGripperZM, 1);
-		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModGripperZM);
+		return stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.ShakeModGripperZM);
 	}


@ -145,9 +145,9 @@ public class MotorHardwareTestPage {
 		stepMotorCtrlDriver.stepMotorEasyMoveByBlock(StepMotorMId.ShakeModClampingM, step);
 	}

-	public void shakeModClampingMZero() throws AppException {
+	public Integer shakeModClampingMZero() throws AppException {
 		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModClampingM, 1);
-		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModClampingM);
+		return stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.ShakeModClampingM);
 	}


@ -173,9 +173,9 @@ public class MotorHardwareTestPage {
 		stepMotorCtrlDriver.stepMotorEasyMoveByBlock(StepMotorMId.ShakeModShakeM, -step);
 	}

-	public void shakeModShakeMZero() throws AppException {
+	public Integer shakeModShakeMZero() throws AppException {
 		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModShakeM, 1);
-		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModShakeM);
+		return stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.ShakeModShakeM);
 	}

 	public void shakeModShakeMStop() throws AppException {
@ -204,9 +204,9 @@ public class MotorHardwareTestPage {
 		stepMotorCtrlDriver.stepMotorEasyMoveByBlock(StepMotorMId.PlatesBoxYM, -step);
 	}

-	public void platesBoxYZero() throws AppException {
+	public Integer platesBoxYZero() throws AppException {
 		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.PlatesBoxYM, 1);
-		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.PlatesBoxYM);
+		return stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.PlatesBoxYM);
 	}


@ -232,9 +232,9 @@ public class MotorHardwareTestPage {
 		stepMotorCtrlDriver.stepMotorEasyMoveByBlock(StepMotorMId.PlatesBoxPusherM, -step);
 	}

-	public void platesBoxPusherZero() throws AppException {
+	public Integer platesBoxPusherZero() throws AppException {
 		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.PlatesBoxPusherM, 1);
-		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.PlatesBoxPusherM);
+		return stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.PlatesBoxPusherM);
 	}


@ -285,9 +285,9 @@ public class MotorHardwareTestPage {
 		stepMotorCtrlDriver.stepMotorEasyMoveByBlock(StepMotorMId.IncubatorRotateCtrlM, step);
 	}

-	public void incubatorRotateCtrlMZero() throws AppException {
+	public Integer incubatorRotateCtrlMZero() throws AppException {
 		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.IncubatorRotateCtrlM, 1);
-		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.IncubatorRotateCtrlM);
+		return stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.IncubatorRotateCtrlM);
 	}


@ -295,11 +295,19 @@ public class MotorHardwareTestPage {
 		stepMotorCtrlDriver.stepMotorStop(StepMotorMId.IncubatorRotateCtrlM);
 	}

+	public void incubatorRotateCtrlMoveTo(String mark,Integer pos) throws AppException {
+		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.IncubatorRotateCtrlM, 1);
+		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.IncubatorRotateCtrlM, pos);
+	}
+
+
 	void regIncubatorRotateCtrlM() {
 		pageConfig.newGroup("孵育盘转动电机");
 		pageConfig.addFunction("归零", this::incubatorRotateCtrlMZero);
 		pageConfig.addFunction("逆时针转动", this::incubatorRotateCtrlMAntiClockwise).setParamVal("step", () -> 200);
 		pageConfig.addFunction("顺时针转动", this::incubatorRotateCtrlMClockwise).setParamVal("step", () -> 200);
+		pageConfig.addFunction("移动到", this::incubatorRotateCtrlMoveTo).setParamVal("pos", () -> 0);
+		pageConfig.addFunction("移动到", this::incubatorRotateCtrlMoveTo).setParamVal("pos", () -> 0);
 		pageConfig.addFunction("停止", this::incubatorRotateCtrlMStop);
 		pageConfig.addFunction("编码器诊断", this::incubatorRotateCtrlMDiagnosticEnc);
 	}
@ -316,21 +324,29 @@ public class MotorHardwareTestPage {
 		stepMotorCtrlDriver.stepMotorEasyMoveByBlock(StepMotorMId.OptModScannerM, -step);
 	}

-	public void optModScannerMZero() throws AppException {
+	public Integer optModScannerMZero() throws AppException {
 		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.OptModScannerM, 1);

-		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.OptModScannerM);
+		return stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.OptModScannerM);
 	}

 	public void optModScannerMStop() throws AppException {
 		stepMotorCtrlDriver.stepMotorStop(StepMotorMId.OptModScannerM);
 	}

+	public void optModScannerMMoveTo0(String mark,Integer pos) throws AppException {
+		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.OptModScannerM, 1);
+		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.OptModScannerM, pos);
+	}
+
+
 	void regOptModScannerM() {
 		pageConfig.newGroup("光学模组扫描电机");
 		pageConfig.addFunction("归零", this::optModScannerMZero);
 		pageConfig.addFunction("向左移动", this::optModScannerMLeft).setParamVal("step", () -> 30);
 		pageConfig.addFunction("向右移动", this::optModScannerMRight).setParamVal("step", () -> 30);
+		pageConfig.addFunction("移动到", this::optModScannerMMoveTo0).setParamVal("pos", () -> 0);
+		pageConfig.addFunction("移动到", this::optModScannerMMoveTo0).setParamVal("pos", () -> 0);
 		pageConfig.addFunction("停止", this::optModScannerMStop);
 	}

@ -347,21 +363,28 @@ public class MotorHardwareTestPage {
 		stepMotorCtrlDriver.stepMotorEasyMoveByBlock(StepMotorMId.OptModPullM, step);
 	}

-	public void optModPullMZero() throws AppException {
+	public Integer optModPullMZero() throws AppException {
 		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.OptModPullM, 1);
-		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.OptModPullM);
+		return stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.OptModPullM);
 	}

 	public void optModPullMStop() throws AppException {
 		stepMotorCtrlDriver.stepMotorStop(StepMotorMId.OptModPullM);
 	}

+	public void optModPullMMoveTo0(String mark,Integer pos) throws AppException {
+		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.OptModPullM, 1);
+		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.OptModPullM, pos);
+	}
+

 	void regOptModPullM() {
 		pageConfig.newGroup("光学模组拉伸电机");
 		pageConfig.addFunction("归零", this::optModPullMZero);
 		pageConfig.addFunction("回零方向移动", this::optModPullMLeft).setParamVal("step", () -> 30);
 		pageConfig.addFunction("勾取方向移动", this::optModPullMRight).setParamVal("step", () -> 30);
+		pageConfig.addFunction("移动到", this::optModPullMMoveTo0).setParamVal("pos", () -> 0);
+		pageConfig.addFunction("移动到", this::optModPullMMoveTo0).setParamVal("pos", () -> 0);
 		pageConfig.addFunction("停止", this::optModPullMStop);
 	}

--- a/src/main/java/a8k/extui/page/hardwaretest/MotorPPSHardwareTestPage.java
+++ b/src/main/java/a8k/extui/page/hardwaretest/MotorPPSHardwareTestPage.java
@ -1,5 +1,6 @@
 package a8k.extui.page.hardwaretest;

+import a8k.app.channel.iflytophald.driver.PipetteCtrlDriverV2;
 import a8k.app.channel.iflytophald.driver.StepMotorCtrlDriver;
 import a8k.app.channel.iflytophald.type.protocol.StepMotorMId;
 import a8k.app.channel.iflytophald.type.protocol.StepMotorRegIndex;
@ -20,67 +21,129 @@ public class MotorPPSHardwareTestPage {

 	private final ExtApiPageMgr       extApiPageMgr;
 	private final StepMotorCtrlDriver stepMotorCtrlDriver;
+	private final PipetteCtrlDriverV2 pipetteCtrlDriverV2;

 	ExtUIPageCfg pageConfig;

 	//
 	//	入料平移电机
 	//
-	@ExtApiStatu(name = "", group = "入料平移电机-IO", order = 1, minWidth = "100%")
-	public String feedingModXMReadIOState() {
-		return readIOState(StepMotorMId.FeedingModXM);
+	@ExtApiStatu(name = "入料平移电机", group = "零点光电", order = 1, minWidth = "25%")
+	public Object feedingModXMReadIOState() {
+		return readZeroIOState(StepMotorMId.FeedingModXM);
 	}

-	@ExtApiStatu(name = "", group = "摇匀模组-Z轴-IO", order = 2, minWidth = "100%")
-	public String shakeModGripperZMReadIOState() {
-		return readIOState(StepMotorMId.ShakeModGripperZM);
+	@ExtApiStatu(name = "摇匀模组-Z轴", group = "零点光电", order = 2, minWidth = "25%")
+	public Object shakeModGripperZMReadIOState() {
+		return readZeroIOState(StepMotorMId.ShakeModGripperZM);
 	}

-	@ExtApiStatu(name = "", group = "摇匀模组-夹紧-IO", order = 3, minWidth = "100%")
-	public String shakeModClampingMReadIOState() {
-		return readIOState(StepMotorMId.ShakeModClampingM);
+	@ExtApiStatu(name = "摇匀模组-夹紧", group = "零点光电", order = 3, minWidth = "25%")
+	public Object shakeModClampingMReadIOState() {
+		return readZeroIOState(StepMotorMId.ShakeModClampingM);
 	}

-	@ExtApiStatu(name = "", group = "摇匀模组-摇匀-IO", order = 4, minWidth = "100%")
-	public String shakeModShakeMReadIOState() {
-		return readIOState(StepMotorMId.ShakeModShakeM);
+	@ExtApiStatu(name = "摇匀模组-摇匀", group = "零点光电", order = 4, minWidth = "25%")
+	public Object shakeModShakeMReadIOState() {
+		return readZeroIOState(StepMotorMId.ShakeModShakeM);
 	}

-	@ExtApiStatu(name = "", group = "板夹仓-前后移动电机-IO", order = 5, minWidth = "100%")
-	public String platesBoxYMReadIOState() {
-		return readIOState(StepMotorMId.PlatesBoxYM);
+	@ExtApiStatu(name = "板夹仓-前后移动电机", group = "零点光电", order = 5, minWidth = "25%")
+	public Object platesBoxYMReadIOState() {
+		return readZeroIOState(StepMotorMId.PlatesBoxYM);
 	}

-	@ExtApiStatu(name = "", group = "板夹仓-推杆电机-IO", order = 6, minWidth = "100%")
-	public String platesBoxPusherReadIOState() {
-		return readIOState(StepMotorMId.PlatesBoxPusherM);
+	@ExtApiStatu(name = "板夹仓-推杆电机", group = "零点光电", order = 6, minWidth = "25%")
+	public Object platesBoxPusherReadIOState() {
+		return readZeroIOState(StepMotorMId.PlatesBoxPusherM);
 	}

-	@ExtApiStatu(name = "", group = "孵育盘电机-IO", order = 7, minWidth = "100%")
-	public String incubatorRotateCtrlMReadIOState() {
-		return readIOState(StepMotorMId.IncubatorRotateCtrlM);
+	@ExtApiStatu(name = "孵育盘电机", group = "零点光电", order = 7, minWidth = "25%")
+	public Object incubatorRotateCtrlMReadIOState() {
+		return readZeroIOState(StepMotorMId.IncubatorRotateCtrlM);
 	}

-	@ExtApiStatu(name = "", group = "光学模组-扫码电机-IO", order = 8, minWidth = "100%")
-	public String optModScannerMReadIOState() {
-		return readIOState(StepMotorMId.OptModScannerM);
+	@ExtApiStatu(name = "光学模组-扫码电机", group = "零点光电", order = 8, minWidth = "25%")
+	public Object optModScannerMReadIOState() {
+		return readZeroIOState(StepMotorMId.OptModScannerM);
 	}

-	@ExtApiStatu(name = "", group = "光学模组-拉杆电机-IO", order = 9, minWidth = "100%")
-	public String optModPullMReadIOState() {
-		return readIOState(StepMotorMId.OptModPullM);
+	@ExtApiStatu(name = "光学模组-拉杆电机", group = "零点光电", order = 9, minWidth = "25%")
+	public Object optModPullMReadIOState() {
+		return readZeroIOState(StepMotorMId.OptModPullM);
 	}

-	private String readIOState(StepMotorMId mid) {
+
+	//
+	@ExtApiStatu(name = "入料平移电机", group = "限位光电", order = 11, minWidth = "25%")
+	public Object feedingModXMReadLimitIOState() {
+		return readLimitIOState(StepMotorMId.FeedingModXM);
+	}
+
+	@ExtApiStatu(name = "摇匀模组-Z轴", group = "限位光电", order = 12, minWidth = "25%")
+	public Object shakeModGripperZMReadLimitIOState() {
+		return readLimitIOState(StepMotorMId.ShakeModGripperZM);
+	}
+
+	@ExtApiStatu(name = "摇匀模组-夹紧", group = "限位光电", order = 13, minWidth = "25%")
+	public Object shakeModClampingMReadLimitIOState() {
+		return readLimitIOState(StepMotorMId.ShakeModClampingM);
+	}
+
+	@ExtApiStatu(name = "摇匀模组-摇匀", group = "限位光电", order = 14, minWidth = "25%")
+	public Object shakeModShakeMReadLimitIOState() {
+		return readLimitIOState(StepMotorMId.ShakeModShakeM);
+	}
+
+	@ExtApiStatu(name = "板夹仓-前后移动电机", group = "限位光电", order = 15, minWidth = "25%")
+	public Object platesBoxYMReadLimitIOState() {
+		return readLimitIOState(StepMotorMId.PlatesBoxYM);
+	}
+
+	@ExtApiStatu(name = "板夹仓-推杆电机", group = "限位光电", order = 16, minWidth = "25%")
+	public Object platesBoxPusherReadLimitIOState() {
+		return readLimitIOState(StepMotorMId.PlatesBoxPusherM);
+	}
+
+	@ExtApiStatu(name = "孵育盘电机", group = "限位光电", order = 17, minWidth = "25%")
+	public Object incubatorRotateCtrlMReadLimitIOState() {
+		return readLimitIOState(StepMotorMId.IncubatorRotateCtrlM);
+	}
+
+	@ExtApiStatu(name = "光学模组-扫码电机", group = "限位光电", order = 18, minWidth = "25%")
+	public Object optModScannerMReadLimitIOState() {
+		return readLimitIOState(StepMotorMId.OptModScannerM);
+	}
+
+	@ExtApiStatu(name = "光学模组-拉杆电机", group = "限位光电", order = 19, minWidth = "25%")
+	public Object optModPullMReadLimitIOState() {
+		return readLimitIOState(StepMotorMId.OptModPullM);
+	}
+
+
+	private Object readZeroIOState(StepMotorMId mid) {
 		try {
-			Boolean zeroIOState  = stepMotorCtrlDriver.stepMotorReadIoState(mid, 0);
-			Boolean limitIOState = stepMotorCtrlDriver.stepMotorReadIoState(mid, 1);
-			return String.format("ZERO IO: [%s]           LIMIT IO: [%s]", zeroIOState ? 1 : 0, limitIOState ? 1 : 0);
+			return stepMotorCtrlDriver.stepMotorReadIoState(mid, 0);
+			//			Boolean limitIOState = stepMotorCtrlDriver.stepMotorReadIoState(mid, 1);
+			//			return String.format("ZERO IO: [%s]           LIMIT IO: [%s]", zeroIOState ? 1 : 0, limitIOState ? 1 : 0);
 		} catch (AppException e) {
-			return "读取IO异常";
+			//			return "读取IO异常";
 		}
+		return false;
 	}

+
+	private Object readLimitIOState(StepMotorMId mid) {
+		try {
+			return stepMotorCtrlDriver.stepMotorReadIoState(mid, 1);
+			//			return String.format("ZERO IO: [%s]           LIMIT IO: [%s]", zeroIOState ? 1 : 0, limitIOState ? 1 : 0);
+		} catch (AppException e) {
+			//			return "读取IO异常";
+		}
+		return false;
+	}
+
+
 	@PostConstruct
 	void init() {
 		pageConfig = extApiPageMgr.newPage(this);
--- a/src/main/java/a8k/extui/page/hardwaretest/PipetteGunHardwareTestPage.java
+++ b/src/main/java/a8k/extui/page/hardwaretest/PipetteGunHardwareTestPage.java
@ -53,6 +53,10 @@ public class PipetteGunHardwareTestPage {
 		return pipetteCtrlDriverV2.readPipetteConnectedState();
 	}

+	public Boolean readZeroSensorState() throws AppException {
+			return pipetteCtrlDriverV2.zMotorReadZeroPointState();
+	}
+

 	@PostConstruct
 	void init() {
@ -69,6 +73,7 @@ public class PipetteGunHardwareTestPage {
 		page.newGroup("状态");
 		page.addFunction("读取位置", this::readPos);
 		page.addFunction("读取连接状态", this::readPipetteConnectedState);
+		page.addFunction("读取零点传感器状态", this::readZeroSensorState);

 		extApiPageMgr.addPage(page);

--- a/src/main/java/a8k/extui/page/hardwaretest/WaterTempControllerTestPage.java
+++ b/src/main/java/a8k/extui/page/hardwaretest/WaterTempControllerTestPage.java
@ -28,7 +28,7 @@ public class WaterTempControllerTestPage {

 	@ExtApiStatu(name = "", group = "板夹仓反馈温度", order = 2, minWidth = "50%")
 	public Double readPlatesBoxTCMFeedbackTemperature() throws AppException {
-		return waterTemperatureControllerDriver.readIncubateBoxTemperature();
+		return waterTemperatureControllerDriver.readPlateBoxTemperature();
 	}

 	@ExtApiStatu(name = "", group = "孵育盘温度传感器", order = 3, minWidth = "50%")
--- a/src/main/java/a8k/extui/page/test/verification/P31ReactionPlatesTransmitPosVerificationPage.java
+++ b/src/main/java/a8k/extui/page/test/verification/P31ReactionPlatesTransmitPosVerificationPage.java
@ -44,8 +44,8 @@ public class P31ReactionPlatesTransmitPosVerificationPage {
 	//光学模组单步


-	public void trunableMoveToPushPos(IncubatorPos index) throws AppException {
-		plateBoxCtrlService.pushPlateQuick(ConsumableGroup.CG1, index);
+	public void trunableMoveToPushPos(ConsumableGroup group,IncubatorPos index) throws AppException {
+		plateBoxCtrlService.pushPlateQuick(group, index);
 	}

 	public void trunableMoveToPullPos(IncubatorPos index) throws AppException {
--- a/src/main/java/a8k/iflyutils/BitUtils.java
+++ b/src/main/java/a8k/iflyutils/BitUtils.java
@ -0,0 +1,39 @@
+package a8k.iflyutils;
+
+import lombok.extern.slf4j.Slf4j;
+
+@Slf4j
+public class BitUtils {
+
+	public static Boolean getBitValue(Integer value, int bitOff) {
+		if (bitOff < 0 || bitOff > 31) {
+			throw new IllegalArgumentException("Bit index must be between 0 and 31");
+		}
+		return (value & (1 << bitOff)) != 0;
+	}
+
+	public static Integer getBitValueAsInt(Integer value, int bitOff, int bitlen) {
+		if (bitOff < 0 || bitOff > 31 || bitlen < 1 || bitlen > 32) {
+			throw new IllegalArgumentException("Bit index must be between 0 and 31 and bit length must be between 1 and 32");
+		}
+		int mask = (1 << bitlen) - 1; // Create a mask for the specified bit length
+		return (value >> bitOff) & mask; // Shift right and apply the mask
+	}
+
+
+	public static void main(String[] args) {
+		Integer value = 0b11111010; // Example value
+
+		log.info("Bit value at offset {}: {}", 0, getBitValue(value, 0));
+		log.info("Bit value at offset {}: {}", 1, getBitValue(value, 1));
+
+		log.info("Bit value at offset [{}..{}]: {}", 2, 1, getBitValueAsInt(value, 2, 1));
+		log.info("Bit value at offset [{}..{}]: {}", 2, 2, getBitValueAsInt(value, 2, 2));
+		log.info("Bit value at offset [{}..{}]: {}", 2, 3, getBitValueAsInt(value, 2, 3));
+		log.info("Bit value at offset [{}..{}]: {}", 2, 4, getBitValueAsInt(value, 2, 4));
+		log.info("Bit value at offset [{}..{}]: {}", 2, 5, getBitValueAsInt(value, 2, 5));
+
+
+		//		System.out.println("Bit value as int from offset " + bitOff + " with length " + bitlen + ": " + bitValueAsInt);
+	}
+}