update

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

@@ -60,4 +60,8 @@ public class DO_CLEAR_ERROR_BEFORE_WORK extends A8kStepAction {
 		);
 	}
 
+
+	@Override public Boolean isAllowsParallelRunning() {
+		return false;
+	}
 }

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

@@ -121,4 +121,8 @@ public class DO_FINISH_TUBE_PROCESS extends A8kStepAction {
 			return "";
 		return String.format("[sid: %s, tippos: %s]", tube.getSampleId(), tube.getPos());
 	}
+
+		@Override public Boolean isAllowsParallelRunning() {
+		return false;
+	}
 }

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

@@ -47,4 +47,8 @@ public class DO_PAUSE extends A8kStepAction {
 	@Override public List<A8kPublicResourceType> getResourceList() {
 		return List.of();
 	}
+
+		@Override public Boolean isAllowsParallelRunning() {
+		return false;
+	}
 }

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

@@ -109,4 +109,8 @@ public class DO_PROCESS_ERROR_PLATE extends A8kStepAction {
 		}
 		return String.format("[sid: %s, proj: %s tanpos: %s]", errorTank.getSampleId(), errorTank.getProjId(), errorTank.getPos());
 	}
+
+		@Override public Boolean isAllowsParallelRunning() {
+		return false;
+	}
 }

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

@@ -47,5 +47,7 @@ public class DO_RESUME extends A8kStepAction {
 	@Override public List<A8kPublicResourceType> getResourceList() {
 		return List.of();
 	}
-
+	@Override public Boolean isAllowsParallelRunning() {
+		return false;
+	}
 }

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

@@ -83,4 +83,8 @@ public class DO_START extends A8kStepAction {
 				A8kPublicResourceType.HBOT
 		);
 	}
+
+		@Override public Boolean isAllowsParallelRunning() {
+		return false;
+	}
 }

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

@@ -104,4 +104,8 @@ public class DO_STOP extends A8kStepAction {
 				A8kPublicResourceType.HBOT
 		);
 	}
+
+		@Override public Boolean isAllowsParallelRunning() {
+		return false;
+	}
 }

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

@@ -124,4 +124,8 @@ public class PLATE_OPT_SCAN extends A8kStepAction {
 		OptScanModule optScanModule = gstate.getOptScanModule();
 		return String.format("[sid: %s, proj:%s ]", optScanModule.getSampleId(), optScanModule.getProjInfoStr());
 	}
+
+	@Override public Boolean isAllowsParallelRunning() {
+		return false;
+	}
 }

src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ6_POST_PROCESS.java

@@ -98,7 +98,6 @@ public class SEQ6_POST_PROCESS extends A8kStepAction {
 
 	@Override public List<A8kPublicResourceType> getResourceList() {
 		return List.of(
-				A8kPublicResourceType.IncubationPlateModule,
 				A8kPublicResourceType.PlatesBoxModule,
 				A8kPublicResourceType.HBOT,
 				A8kPublicResourceType.CurTubeProcessToken

src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ7_EJECT_TUBEHOLDER.java

@@ -71,6 +71,6 @@ public class SEQ7_EJECT_TUBEHOLDER extends A8kStepAction {
 	}
 
 	@Override public List<A8kPublicResourceType> getResourceList() {
-		return List.of(A8kPublicResourceType.ShakeModule);
+		return List.of(A8kPublicResourceType.TubeFeedModule);
 	}
 }

src/main/java/a8k/service/app/devicectrl/driver/StepMotorCtrlDriver.java

@@ -31,7 +31,7 @@ public class StepMotorCtrlDriver {
 		canBus.callcmd(id.mid, CmdId.step_motor_easy_move_to, pos);
 	}
 
-	void stepMotorEasyMoveToZero(StepMotorMId id) throws AppException {
+	public void stepMotorEasyMoveToZero(StepMotorMId id) throws AppException {
 		canBus.callcmd(id.mid, CmdId.step_motor_easy_move_to_zero);
 	}
 
@@ -69,6 +69,10 @@ public class StepMotorCtrlDriver {
 		canBus.waitForMod(id.mid, actionOvertime);
 	}
 
+	public void waitForMod(StepMotorMId id, Integer actionOvertime) throws AppException {
+		canBus.waitForMod(id.mid, actionOvertime);
+	}
+
 	@ExtApiFn(name = "stepMotorEasyMoveToBlock", order = 5)
 	public void stepMotorEasyMoveToBlock(StepMotorMId id, Integer pos, Integer actionOvertime) throws AppException {
 		logger.info("stepMotorEasyMoveToBlock {} {}", id, pos);
@@ -157,7 +161,7 @@ public class StepMotorCtrlDriver {
 		ObjectNode node = ZJsonHelper.createObjectNode();
 		for (StepMotorRegIndex regIndex : StepMotorRegIndex.values()) {
 			Integer regVal = getReg(id, regIndex);
-			logger.info("read reg {} -> {}", regIndex,regVal);
+			logger.info("read reg {} -> {}", regIndex, regVal);
 			node.put(regIndex.name(), getReg(id, regIndex));
 
 		}

src/main/java/a8k/service/app/devicectrl/exdriver/TubePreProcesModuleExDriver.java

@@ -134,20 +134,22 @@ public class TubePreProcesModuleExDriver {
 	}
 
 
-	private void modGroupMoveToZero() throws AppException {
-		miniServoDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperSV);
-		miniServoDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperYSV);
-		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModClampingM, actionOvertime);
-		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, actionOvertime);
-		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModShakeM, actionOvertime);
-		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.ShakeModShakeM, 90, actionOvertime);
-	}
-
 	public void moveToZeroQuick() throws AppException {
 		stepMotorCtrlDriver.stepMotorEasyMoveToZeroPointQuickBlock(StepMotorMId.ShakeModGripperZM, actionOvertime);
 		stepMotorCtrlDriver.stepMotorEasyMoveToZeroPointQuickBlock(StepMotorMId.ShakeModClampingM, actionOvertime);
-		stepMotorCtrlDriver.stepMotorEasyMoveToZeroPointQuickBlock(StepMotorMId.ShakeModShakeM, actionOvertime);
-		modGroupMoveToZero();
+//		stepMotorCtrlDriver.stepMotorEasyMoveToZeroPointQuickBlock(StepMotorMId.ShakeModShakeM, actionOvertime);
+
+
+		miniServoDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperSV);
+		miniServoDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperYSV);
+
+		stepMotorCtrlDriver.stepMotorEasyMoveToZero(StepMotorMId.ShakeModClampingM);
+		stepMotorCtrlDriver.stepMotorEasyMoveToZero(StepMotorMId.ShakeModGripperZM);
+
+		stepMotorCtrlDriver.waitForMod(StepMotorMId.ShakeModClampingM, actionOvertime);
+		stepMotorCtrlDriver.waitForMod(StepMotorMId.ShakeModGripperZM, actionOvertime);
+
+		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.ShakeModShakeM, 90, actionOvertime);
 	}
 
 }

src/main/java/a8k/service/app/devicectrl/script/DeviceCtrlScripter.java

@@ -205,6 +205,7 @@ public class DeviceCtrlScripter {
 
 		//移动到取样位置
 		A8kSamplePos samplePos = ProjProcessContextUtils.getSamplePos(ctx);
+		log.info("移动到 {}", samplePos);
 		hbotCtrlService.moveTo(hbotSamplePosParamMgr.getSampleStartPos(samplePos));
 
 		//ldd准备