update

src/main/java/a8k/controler/engineer/utils/EnginnerPageTabOrder.java

@@ -11,11 +11,17 @@ public enum EnginnerPageTabOrder {
 	AppCfgMgrService,
 	AppFrontEndEventRouter,
 
+	MotorTubeRackMoveCtrlService,
 	SamplesPreProcessModuleCtrlService,
 	ReactionPlatesTransmitCtrlService,
-	MotorTubeRackMoveCtrlService,
 	HbotControlService,
 	HardwareTestScript,
 
+	PosParam,
+	TimeParam,
+	HardwareCommonCtrl,
+	SamplesPreProcesCtrl,
+
+
 	Max;
 }

src/main/java/a8k/service/appcfgs/AppCfgMgrService.java

@@ -3,6 +3,7 @@ package a8k.service.appcfgs;
 import a8k.appbase.appret.AppRet;
 import a8k.controler.engineer.utils.EngineerPageTab;
 import a8k.controler.engineer.utils.EnginnerPageAction;
+import a8k.controler.engineer.utils.EnginnerPageTabOrder;
 import a8k.service.appcfgs.base.A8kDeviceCfg;
 import a8k.service.appcfgs.base.EmergencyCfg;
 import a8k.appbase.type.BloodType;
@@ -12,10 +13,23 @@ import a8k.service.hardware.canbus.protocol.A8kEcode;
 import org.springframework.stereotype.Component;
 
 @Component
-@EngineerPageTab(name = "AppCfgMgrService")
+@EngineerPageTab(name = "应用-测试任务提交", order = EnginnerPageTabOrder.AppCfgMgrService)
 public class AppCfgMgrService {
 	A8kDeviceCfg deviceCfg = new A8kDeviceCfg();
 
+	static class ORDER {
+		static final int getA8kDeviceCfg     = 1;
+		static final int addCfg              = 2;
+		static final int removeCfg           = 3;
+		static final int activeCfg           = 4;
+		static final int updateTubeUsrCfg    = 5;
+		static final int clearTubeProjectCfg = 6;
+		static final int addTubeProjectCode  = 7;
+		static final int setTubeBloodType    = 8;
+		static final int getEmergencyCfg     = 9;
+		static final int addEmergencyCfg     = 10;
+	}
+
 
 	private SampleTubeHolderCfg dbFindCfg(String tubeHolderCfgUUID) {
 		for (SampleTubeHolderCfg cfg : deviceCfg.cfgs) {
@@ -39,26 +53,30 @@ public class AppCfgMgrService {
 	}
 
 
-	@EnginnerPageAction(name = "获取设备配置", group = "基础", groupOrder = 1)
+	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+	// EXTERNAL API
+	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+
+	@EnginnerPageAction(name = "获取设备配置", group = "基础", order = ORDER.getA8kDeviceCfg)
 	public A8kDeviceCfg getA8kDeviceCfg() {
 		return deviceCfg;
 	}
 
-	@EnginnerPageAction(name = "添加<试管架>配置", group = "试管架", groupOrder = 2)
+	@EnginnerPageAction(name = "添加<试管架>配置", group = "试管架", order = ORDER.addCfg)
 	public AppRet<SampleTubeHolderCfg> addCfg() {
 		SampleTubeHolderCfg cfg = new SampleTubeHolderCfg();
 		deviceCfg.cfgs.add(cfg);
 		return AppRet.success(cfg);
 	}
 
-	@EnginnerPageAction(name = "删除<试管架>配置", group = "试管架")
+	@EnginnerPageAction(name = "删除<试管架>配置", group = "试管架", order = ORDER.removeCfg)
 	public AppRet<Object> removeCfg(String tubeHolderCfgUUID) {
 		dbRemoveCfg(tubeHolderCfgUUID);
 		return AppRet.success();
 	}
 
 
-	@EnginnerPageAction(name = "激活<试管架>配置", group = "试管架")
+	@EnginnerPageAction(name = "激活<试管架>配置", group = "试管架", order = ORDER.activeCfg)
 	public AppRet<SampleTubeHolderCfg> activeCfg(String tubeHolderCfgUUID, Boolean active) {
 		SampleTubeHolderCfg cfg = dbFindCfg(tubeHolderCfgUUID);
 		if (cfg == null) {
@@ -69,7 +87,7 @@ public class AppCfgMgrService {
 	}
 
 
-	@EnginnerPageAction(name = "修改<试管>用户信息配置", group = "试管", groupOrder = 3)
+	@EnginnerPageAction(name = "修改<试管>用户信息配置", group = "试管", order = ORDER.updateTubeUsrCfg)
 	public AppRet<SampleTubeCfg> updateTubeUsrCfg(String uuid, Integer tubeIndex, String udpid, String barcodeid) {
 		SampleTubeHolderCfg cfg = dbFindCfg(uuid);
 		assert cfg != null;
@@ -79,7 +97,7 @@ public class AppCfgMgrService {
 	}
 
 
-	@EnginnerPageAction(name = "清除<试管>项目信息", group = "试管")
+	@EnginnerPageAction(name = "清除<试管>项目信息", group = "试管", order = ORDER.clearTubeProjectCfg)
 	public AppRet<SampleTubeCfg> clearTubeProjectCfg(String uuid, Integer tubeIndex) {
 		SampleTubeHolderCfg cfg = dbFindCfg(uuid);
 		assert cfg != null;
@@ -88,7 +106,7 @@ public class AppCfgMgrService {
 		return AppRet.success(cfg.tubeCfgs.get(tubeIndex));
 	}
 
-	@EnginnerPageAction(name = "添加<试管>项目信息", group = "试管")
+	@EnginnerPageAction(name = "添加<试管>项目信息", group = "试管", order = ORDER.addTubeProjectCode)
 	public AppRet<SampleTubeCfg> addTubeProjectCode(String uuid, Integer tubeIndex, String pjc) {
 		SampleTubeHolderCfg cfg = dbFindCfg(uuid);
 		assert cfg != null;
@@ -98,7 +116,7 @@ public class AppCfgMgrService {
 		return AppRet.success(tubeCfg);
 	}
 
-	@EnginnerPageAction(name = "设置<试管>血型", group = "试管")
+	@EnginnerPageAction(name = "设置<试管>血型", group = "试管", order = ORDER.setTubeBloodType)
 	public AppRet<SampleTubeCfg> setTubeBloodType(String uuid, Integer tubeIndex, BloodType bloodType) {
 		SampleTubeCfg tubeCfg = dbFindTubeCfg(uuid, tubeIndex);
 		assert tubeCfg != null;
@@ -106,12 +124,12 @@ public class AppCfgMgrService {
 		return AppRet.success();
 	}
 
-	@EnginnerPageAction(name = "获取<急诊位>配置", group = "急诊位", groupOrder = 4)
+	@EnginnerPageAction(name = "获取<急诊位>配置", group = "急诊位", order = ORDER.getEmergencyCfg)
 	public AppRet<EmergencyCfg> getEmergencyCfg() {
 		return AppRet.success(deviceCfg.emergencyCfg);
 	}
 
-	@EnginnerPageAction(name = "添加<急诊位>配置", group = "急诊位")
+	@EnginnerPageAction(name = "添加<急诊位>配置", group = "急诊位", order = ORDER.addEmergencyCfg)
 	public AppRet<EmergencyCfg> addEmergencyCfg(EmergencyCfg cfg) {
 		deviceCfg.emergencyCfg = cfg;
 		return AppRet.success(deviceCfg.emergencyCfg);

src/main/java/a8k/service/appfrontend/AppFrontEndEventRouter.java

@@ -1,5 +1,6 @@
 package a8k.service.appfrontend;
 
+import a8k.controler.engineer.utils.EnginnerPageTabOrder;
 import a8k.service.appeventbus.AppEventListener;
 import a8k.appbase.appret.AppRet;
 import a8k.controler.engineer.utils.EngineerPageTab;
@@ -15,10 +16,14 @@ import org.springframework.stereotype.Component;
 import java.util.Queue;
 
 @Component
-@EngineerPageTab(name = "FrontEndEventRouter")
+@EngineerPageTab(name = "应用-前端事件路由器", order = EnginnerPageTabOrder.AppFrontEndEventRouter)
 public class AppFrontEndEventRouter implements AppEventListener {
 	static Logger logger = org.slf4j.LoggerFactory.getLogger(AppFrontEndEventRouter.class);
 
+	static class ORDER {
+		static final int pollAppEvent = 1;
+	}
+
 	@Resource
 	AppEventBusService eventBus;
 
@@ -30,17 +35,30 @@ public class AppFrontEndEventRouter implements AppEventListener {
 		eventBus.regListener(this);
 	}
 
-	public Boolean filterEvent(AppEvent event) {
+	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+	// Internal APIs
+	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+
+	/**
+	 * 过滤事件
+	 * @param event 事件
+	 * @return 是否过滤
+	 */
+	Boolean filterEvent(AppEvent event) {
 		if (event instanceof A8kHardwareReport) {
 			return true;
 		}
 		return false;
 	}
 
-	synchronized public AppEvent _pollAppEvent() {
+	synchronized AppEvent pollAppEventFromQueue() {
 		return appEventQueue.poll();
 	}
 
+	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+	// 事件处理
+	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+
 	@Override public void onAppEvent(AppEvent event) {
 		if (filterEvent(event)) {
 			return;
@@ -49,13 +67,17 @@ public class AppFrontEndEventRouter implements AppEventListener {
 		appEventQueue.add(event);
 		if (appEventQueue.size() >= 10) {
 			logger.warn("too many events in queue, drop some");
-			_pollAppEvent();
+			pollAppEventFromQueue();
 		}
 	}
 
-	@EnginnerPageAction(name = "pollAppEvent")
+	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+	// Exposed APIs
+	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+
+	@EnginnerPageAction(name = "读取挂起事件")
 	public AppRet<AppEvent> pollAppEvent() {
-		AppEvent event = _pollAppEvent();
+		AppEvent event = pollAppEventFromQueue();
 		return AppRet.success(event);
 	}
 

src/main/java/a8k/service/hardware/HardwareTestScript.java

@@ -4,14 +4,11 @@ import a8k.appbase.ConsumableGroup;
 import a8k.appbase.HardwareException;
 import a8k.appbase.cfg.*;
 import a8k.appbase.appret.AppRet;
+import a8k.controler.engineer.utils.*;
 import a8k.service.hardware.canbus.A8kCanBusService;
 import a8k.service.hardware.canbus.protocol.A8kEcode;
 import a8k.service.hardware.canbus.protocol.MId;
 import a8k.service.hardware.canbus.protocol.RegIndex;
-import a8k.controler.engineer.utils.EnginnerParamReader;
-import a8k.controler.engineer.utils.EngineerPageTab;
-import a8k.controler.engineer.utils.EnginnerPageAction;
-import a8k.controler.engineer.utils.EnginnerPageParams;
 import jakarta.annotation.Resource;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
@@ -22,7 +19,7 @@ import java.util.HashMap;
 import java.util.Map;
 
 @Component
-@EngineerPageTab(name = "测试脚本")
+@EngineerPageTab(name = "测试-测试脚本", order = EnginnerPageTabOrder.HardwareTestScript)
 @EnginnerPageParams(service = HardwareTestScript.class)
 public class HardwareTestScript {
 	static Logger logger = LoggerFactory.getLogger(HardwareTestScript.class);

src/main/java/a8k/service/hardware/HbotControlService.java

@@ -21,7 +21,7 @@ import org.springframework.stereotype.Component;
  * Hbot控制服务
  */
 @Component
-@EngineerPageTab(name = "Hbot控制")
+@EngineerPageTab(name = "硬件-Hbot控制", order = EnginnerPageTabOrder.HbotControlService)
 @EnginnerPageParams(service = HbotControlService.class)
 public class HbotControlService implements HardwareCtrlModule {
 	static Logger logger = LoggerFactory.getLogger(HbotControlService.class);
@@ -403,7 +403,7 @@ public class HbotControlService implements HardwareCtrlModule {
 	Pos2d hbotRefPos = new Pos2d(0, 0);
 
 	@EnginnerPageAction(name = "设置HBOT参考坐标", group = "坐标获取工具")
-	public void openCodeScaner(Integer x, Integer y) throws HardwareException, InterruptedException {
+	public void setHbotRefPos(Integer x, Integer y) throws HardwareException, InterruptedException {
 		hbotRefPos.x = x;
 		hbotRefPos.y = y;
 	}

src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java

@@ -12,7 +12,7 @@ import org.slf4j.LoggerFactory;
 import org.springframework.stereotype.Component;
 
 @Component
-@EngineerPageTab(name = "进出料控制模组")
+@EngineerPageTab(name = "硬件-进出料控制模组", order = EnginnerPageTabOrder.MotorTubeRackMoveCtrlService)
 @EnginnerPageParams(service = MotorTubeRackMoveCtrlService.class)
 public class MotorTubeRackMoveCtrlService implements HardwareCtrlModule {
 

src/main/java/a8k/service/hardware/ReactionPlatesTransmitCtrlService.java

@@ -19,7 +19,7 @@ import java.util.ArrayList;
 import java.util.List;
 
 @Component
-@EngineerPageTab(name = "反应板条搬移服务", order= EnginnerPageTabOrder.ReactionPlatesTransmitCtrlService)
+@EngineerPageTab(name = "硬件-反应板条搬移服务", order= EnginnerPageTabOrder.ReactionPlatesTransmitCtrlService)
 @EnginnerPageParams(service = ReactionPlatesTransmitCtrlService.class)
 public class ReactionPlatesTransmitCtrlService implements HardwareCtrlModule {
 	static Logger logger = LoggerFactory.getLogger(ReactionPlatesTransmitCtrlService.class);

src/main/java/a8k/service/hardware/SamplesPreProcessModuleCtrlService.java

@@ -16,7 +16,7 @@ import java.lang.reflect.Method;
 import java.util.List;
 
 @Component
-@EngineerPageTab(name = "样本预处理模块")
+@EngineerPageTab(name = "硬件-样本预处理模块", order = EnginnerPageTabOrder.SamplesPreProcessModuleCtrlService)
 @EnginnerPageParams(service = SamplesPreProcessModuleCtrlService.class)
 public class SamplesPreProcessModuleCtrlService implements HardwareCtrlModule {
 	static Logger logger = LoggerFactory.getLogger(SamplesPreProcessModuleCtrlService.class);

src/main/java/a8k/service/hardware/canbus/protocol/A8kEcode.java

@@ -31,6 +31,7 @@ public enum A8kEcode {
 	ZMNotAtZPosWhenHbotTryMove(26, "HBOT启动时，Z轴电机没有在原点"),//
 	TakeTipFail(27, "取Tip失败"),//
 	PutTipFail(28, "放Tip失败"),//
+	StopByUser(29, "用户停止"),//
 
 	PasswdError(100, "密码错误"), //
 	UsrNotExitError(101, "用户不存在"), //

src/main/java/a8k/service/hardwarev2/commonctrl/HardwareCommonCtrl.java

@@ -0,0 +1,231 @@
+package a8k.service.hardwarev2.commonctrl;
+
+
+import a8k.appbase.HardwareException;
+import a8k.appbase.appret.AppRet;
+import a8k.controler.engineer.utils.EngineerPageTab;
+import a8k.controler.engineer.utils.EnginnerPageAction;
+import a8k.controler.engineer.utils.EnginnerPageParams;
+import a8k.controler.engineer.utils.EnginnerPageTabOrder;
+import a8k.service.hardware.canbus.A8kCanBusService;
+import a8k.service.hardware.canbus.protocol.A8kEcode;
+import a8k.service.hardware.canbus.protocol.IOId;
+import a8k.service.hardware.canbus.protocol.MId;
+import a8k.service.hardwarev2.param.PosParam;
+import a8k.service.hardwarev2.param.TimeParam;
+import jakarta.annotation.Resource;
+import org.slf4j.Logger;
+import org.springframework.stereotype.Component;
+
+@Component
+@EngineerPageTab(name = "硬件控制-通用控制", order = EnginnerPageTabOrder.SamplesPreProcesCtrl)
+@EnginnerPageParams(service = HardwareCommonCtrl.class)
+public class HardwareCommonCtrl {
+	static Logger logger = org.slf4j.LoggerFactory.getLogger(HardwareCommonCtrl.class);
+
+	static class ORDER {
+		static final int initializeDevice = 1;
+		static final int deviceEnable     = 2;
+		static final int deviceClear      = 3;
+	}
+
+	@Resource
+	A8kCanBusService canBus;
+
+	@Resource
+	TimeParam timep;
+
+	@Resource
+	PosParam posp;
+
+	Boolean workState = false;
+
+	//	++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+	//	CHECK
+	//	++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+
+	private AppRet<Object> checkDeviceStateBeforeRunToZero() throws HardwareException {
+		logger.info("checkDeviceStateBeforeRunToZero");
+		//试管平移通道是否有障碍
+		if (canBus.getIOState(IOId.THChInterPPS) || canBus.getIOState(IOId.THChOuterPPS)) {
+			logger.warn("THChInterPPS or THChOuterPPS is trigger");
+			return AppRet.fail(A8kEcode.TubeXChannelIsNotEmpty);
+		}
+
+		//板夹仓盖子是否盖上
+		if (!canBus.getIOState(IOId.PlateBoxCoverClosurePPS)) {
+			return AppRet.fail(A8kEcode.PlateBoxNotCover);
+		}
+
+		//板夹仓卡板检测
+		if (canBus.getIOState(IOId.PlateBoxPlateStuckPPS)) {
+			return AppRet.fail(A8kEcode.PlateStuckDetectorSensorTrigger);
+		}
+
+		//检查钩板电机是否处于终点位置
+		if (!canBus.getIOState(IOId.PullerMZeroPPS)) {
+			return AppRet.fail(A8kEcode.PullerMInitPosError);
+		}
+
+		//检查板夹仓光电是否处于起点位置
+		if (!canBus.getIOState(IOId.PusherMZeroPPS)) {
+			return AppRet.fail(A8kEcode.PusherMInitPosError);
+		}
+		//板夹仓光电
+		if (canBus.getIOState(IOId.RecycleBinOverflowPPS)) {
+			return AppRet.fail(A8kEcode.RecycleBinOverflow);
+		}
+
+		return AppRet.success();
+	}
+
+	private void checkStopFlag() throws HardwareException {
+		if (!workState) {
+			throw new HardwareException(A8kEcode.StopByUser);
+		}
+	}
+
+
+	private AppRet<Object> moveMotorToZero() throws HardwareException, InterruptedException {
+
+		//进出料初始化
+		canBus.stepMotorEasyMoveToZeroBlock(MId.FeedingModXM, timep.getActionOvertime());
+		checkStopFlag();
+
+		canBus.miniServoMoveToBlock(MId.ShakeModTubeScanerClampingSV, 10, timep.getActionOvertime());
+		checkStopFlag();
+
+		canBus.miniServoMoveToBlock(MId.ShakeModGripperSV, 10, timep.getActionOvertime());
+		checkStopFlag();
+
+		canBus.miniServoMoveToBlock(MId.ShakeModGripperYSV, 10, timep.getActionOvertime());
+		checkStopFlag();
+
+
+		canBus.stepMotorEasyMoveToZeroBlock(MId.ShakeModClampingM, timep.getActionOvertime());
+		checkStopFlag();
+		canBus.stepMotorEasyMoveToZeroBlock(MId.ShakeModGripperZM, timep.getActionOvertime());
+		checkStopFlag();
+		canBus.stepMotorEasyMoveToZeroBlock(MId.ShakeModShakeM, timep.getActionOvertime());
+		checkStopFlag();
+
+		canBus.stepMotorEasyMoveTo(MId.ShakeModShakeM, 90);
+		checkStopFlag();
+
+		//板夹仓初始化
+		canBus.stepMotorEasyMoveToZeroBlock(MId.PlatesBoxYM, timep.getActionOvertime());
+		checkStopFlag();
+		canBus.stepMotorEasyMoveToZeroBlock(MId.PlatesBoxPusherM, timep.getActionOvertime());
+		checkStopFlag();
+		//光学模组初始化
+		canBus.stepMotorEasyMoveToZeroBlock(MId.OptModPullM, timep.getActionOvertime());
+		checkStopFlag();
+		canBus.stepMotorEasyMoveToZeroBlock(MId.OptModScannerM, timep.getActionOvertime());
+		checkStopFlag();
+		//HBot初始化
+		canBus.hbotMoveToZero(MId.HbotM);
+		checkStopFlag();
+
+		canBus.stepMotorEasyMoveToZeroBlock(MId.PipetteModZM, timep.getActionOvertime());
+		checkStopFlag();
+		//转盘归零
+		canBus.stepMotorEasyMoveToZeroBlock(MId.IncubatorRotateCtrlM, timep.getActionOvertime());
+		checkStopFlag();
+
+
+		return AppRet.success();
+	}
+
+	//  ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+	//	Expose API
+	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+	@EnginnerPageAction(name = "设备初始化", order = ORDER.initializeDevice)
+	public AppRet<Object> initializeDevice() throws HardwareException, InterruptedException {
+		logger.info("Initializing device ...");
+		boolean initSuc = false;
+		workState = true;
+		AppRet<Object> ecode;
+		try {
+			//打开必要的电源
+			canBus.setIOState(IOId.RecycleBinOverflowPPSPowerCtrl, true);
+
+			//检查设备状态
+			ecode = checkDeviceStateBeforeRunToZero();
+			if (!ecode.isSuccess()) {
+				return ecode;
+			}
+			//			复位设备
+			logger.info("moveMotorToZero");
+			ecode = moveMotorToZero();
+			if (!ecode.isSuccess()) {
+				return ecode;
+			}
+			initSuc = true;
+			logger.info("Device initialization completed");
+
+		} finally {
+			if (!initSuc) {
+				try {
+					canBus.stepMotorEnable(MId.ShakeModClampingM, 1);
+				} catch (HardwareException ignored) {
+				}
+				try {
+					canBus.stepMotorEasyMoveBy(MId.ShakeModClampingM, 2);
+				} catch (HardwareException ignored) {
+				}
+			}
+		}
+		return ecode;
+
+	}
+
+	@EnginnerPageAction(name = "清空板夹仓板夹", order = ORDER.deviceClear)
+	public void clearDevice() {
+		//TODO
+	}
+
+
+	@EnginnerPageAction(name = "设备使能", order = ORDER.deviceEnable)
+	public void deviceEnable(Boolean enable) throws HardwareException {
+		//进出料初始化
+		canBus.stepMotorEnable(MId.FeedingModInfeedM, enable ? 1 : 0);
+		canBus.stepMotorEnable(MId.FeedingModXM, enable ? 1 : 0);
+		canBus.stepMotorEnable(MId.FeedingModOutfeedM, enable ? 1 : 0);
+
+		//摇匀模组初始化
+		canBus.stepMotorEnable(MId.ShakeModClampingM, enable ? 1 : 0);
+		canBus.stepMotorEnable(MId.ShakeModGripperZM, enable ? 1 : 0);
+		canBus.stepMotorEnable(MId.ShakeModShakeM, enable ? 1 : 0);
+		canBus.miniServoEnable(MId.ShakeModGripperYSV, enable ? 1 : 0);
+		canBus.miniServoEnable(MId.ShakeModGripperSV, enable ? 1 : 0);
+		canBus.miniServoEnable(MId.ShakeModTubeScanerClampingSV, enable ? 1 : 0);
+		canBus.miniServoEnable(MId.ShakeModTubeScanerRotateSV, enable ? 1 : 0);
+
+		//板夹仓初始化
+		canBus.stepMotorEnable(MId.PlatesBoxYM, enable ? 1 : 0);
+		canBus.stepMotorEnable(MId.PlatesBoxPusherM, enable ? 1 : 0);
+
+		//光学模组初始化
+		canBus.stepMotorEnable(MId.OptModPullM, enable ? 1 : 0);
+		canBus.stepMotorEnable(MId.OptModScannerM, enable ? 1 : 0);
+
+		//HBot初始化
+		canBus.hbotEnable(MId.HbotM, enable ? 1 : 0);
+		canBus.stepMotorEnable(MId.PipetteModZM, enable ? 1 : 0);
+
+		//转盘归零
+		canBus.stepMotorEnable(MId.IncubatorRotateCtrlM, enable ? 1 : 0);
+	}
+
+	public void checkBeforeMove(MId mId) throws HardwareException {
+		//板夹仓盖子是否盖上
+		if (!canBus.getIOState(IOId.PlateBoxCoverClosurePPS)) {
+			throw new HardwareException(A8kEcode.PlateBoxNotCover);
+		}
+	}
+
+	public void stop() {
+		workState = false;
+	}
+
+}

src/main/java/a8k/service/hardwarev2/ctrl/SamplesPreProcesCtrl.java

@@ -0,0 +1,372 @@
+package a8k.service.hardwarev2.ctrl;
+
+import a8k.appbase.HardwareException;
+import a8k.appbase.appret.AppRet;
+import a8k.appbase.type.A8kTubeType;
+import a8k.controler.engineer.utils.*;
+import a8k.service.hardware.CommonHardwareOpeartion;
+import a8k.service.hardware.HardwareCtrlModule;
+import a8k.service.hardware.canbus.A8kCanBusService;
+import a8k.service.hardware.canbus.protocol.A8kEcode;
+import a8k.service.hardware.canbus.protocol.MId;
+import a8k.service.hardwarev2.param.TimeParam;
+import a8k.service.hardwarev2.param.PosParam;
+import a8k.utils.ZEQ;
+import jakarta.annotation.Resource;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.stereotype.Component;
+
+import java.lang.reflect.Method;
+import java.util.List;
+
+@Component
+@EngineerPageTab(name = "硬件控制-样本预处理模块", order = EnginnerPageTabOrder.SamplesPreProcesCtrl)
+@EnginnerPageParams(service = SamplesPreProcesCtrl.class)
+public class SamplesPreProcesCtrl {
+	static Logger logger = LoggerFactory.getLogger(SamplesPreProcesCtrl.class);
+
+	@Resource
+	A8kCanBusService        canBus;
+	@Resource
+	CommonHardwareOpeartion comHardwareOpear;
+	@Resource
+	TimeParam               timep;
+	@Resource
+	PosParam                pp;
+
+	Boolean debug = false;
+
+	@EnginnerPageAction(name = "使能调试模式", group = "调试")
+	public void enableDebugMode() {
+		this.debug = true;
+	}
+
+	@EnginnerPageAction(name = "失能调试模式", group = "调试")
+	public void disableDebugMode() {
+		this.debug = false;
+	}
+
+	@EnginnerPageAction(name = "模组归零")
+	public void modGroupMoveToZero() throws HardwareException, InterruptedException {
+		//		if (!canBus.stepMotorReadIoState(MId.ShakeModGripperZM, 0)) {
+		//			throw new HardwareException(A8kEcode.ShakeModGripperZMNotInZeroPos);
+		//		}
+
+		canBus.miniServoMoveTo(MId.ShakeModGripperSV, pp.getGripperClosePos());//此步骤，除了归零的同时还能够检测是否有试管在夹爪中
+		canBus.waitForMod(MId.ShakeModGripperSV, timep.getActionOvertime());
+		canBus.miniServoMoveTo(MId.ShakeModGripperYSV, pp.getGripperZeroYPos());
+		canBus.waitForMod(MId.ShakeModGripperYSV, timep.getActionOvertime());
+
+		canBus.stepMotorEasyMoveToZero(MId.ShakeModClampingM);
+		canBus.waitForMod(MId.ShakeModClampingM, timep.getActionOvertime());
+		canBus.stepMotorEasyMoveToZero(MId.ShakeModGripperZM);
+		canBus.waitForMod(MId.ShakeModGripperZM, timep.getActionOvertime());
+		canBus.stepMotorEasyMoveToZero(MId.ShakeModShakeM);
+		canBus.waitForMod(MId.ShakeModShakeM, timep.getActionOvertime());
+
+		canBus.stepMotorEasyMoveTo(MId.ShakeModShakeM, 90);
+		canBus.waitForMod(MId.ShakeModShakeM, timep.getActionOvertime());
+
+		canBus.stepMotorEasyMoveTo(MId.ShakeModClampingM, -2);
+	}
+
+
+	@EnginnerPageAction(name = "模组快速归零")
+	public void modGroupMoveToZeroQuick() throws HardwareException, InterruptedException {
+		/*
+		 *  1.Z轴回到零位
+		 * 	2.试管夹紧回到零位
+		 *  3.摇匀回到零位
+		 */
+
+		canBus.stepMotorEasyMoveTo(MId.ShakeModGripperZM, 0);
+		canBus.waitForMod(MId.ShakeModGripperZM, timep.getActionOvertime());
+
+		canBus.stepMotorEasyMoveTo(MId.ShakeModClampingM, 0);
+		canBus.waitForMod(MId.ShakeModClampingM, timep.getActionOvertime());
+
+		canBus.stepMotorEasyMoveTo(MId.ShakeModShakeM, 0);
+		canBus.waitForMod(MId.ShakeModShakeM, timep.getActionOvertime());
+
+		modGroupMoveToZero();
+	}
+
+
+	/**
+	 * 取试管帽,如果试管帽存在，
+	 * @param highTube true/false
+	 */
+	@EnginnerPageAction(name = "取试管")
+	public AppRet<Boolean> takeTubeAndJudgeTubeExist(Boolean highTube) throws HardwareException, InterruptedException {
+
+		/*
+		 *  校验:
+		 *		1.当前摇匀模组设计到的电机是否都处于待机位
+		 */
+
+		//Z轴在原点
+		if (!canBus.stepMotorReadIoState(MId.ShakeModGripperZM, 0)) {
+			throw new HardwareException(MId.ShakeModGripperZM, A8kEcode.MNotInZeroPos);
+		}
+
+		//Y轴在零点附近
+		if (!ZEQ.IntEq(canBus.miniServoReadPos(MId.ShakeModGripperYSV), pp.getGripperZeroYPos(), 30)) {
+			throw new HardwareException(MId.ShakeModGripperYSV, A8kEcode.MNotInZeroPos);
+		}
+
+		//夹爪没有零位置
+		if (!ZEQ.IntEq(canBus.miniServoReadPos(MId.ShakeModGripperSV), pp.getGripperClosePos(), 30)) {
+			throw new HardwareException(MId.ShakeModGripperSV, A8kEcode.MNotInZeroPos);
+		}
+
+		//检查摇匀夹紧是否在零位
+		if (!canBus.stepMotorReadIoState(MId.ShakeModClampingM, 0)) {
+			throw new HardwareException(MId.ShakeModClampingM, A8kEcode.MNotInZeroPos);
+		}
+
+		boolean isHighBlood         = highTube;
+		boolean tubeCapExist        = true;
+		Integer gripperJudgeCapZPos = isHighBlood ? pp.getGripperJudgeHTubeCapZPos() : pp.getGripperJudgeSTubeCapZPos();
+		Integer gripperTakeTubeZPos = isHighBlood ? pp.getGripperTakeHTubeZPos() : pp.getGripperTakeSTubeZPos();
+		Integer gripperShakeZPos    = pp.getGripperShakeTubeZPos();
+
+		//固定试管架
+		logger.info("固定试管架");
+		canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, 900);
+		canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, timep.getActionOvertime());
+
+
+		//试管夹紧移动到终点位置
+		logger.info("试管夹紧移动到终点位置");
+		canBus.stepMotorEasyMoveTo(MId.ShakeModClampingM, 70);
+		canBus.waitForMod(MId.ShakeModClampingM, timep.getActionOvertime());
+
+
+		//试管摇匀移动到90度
+		logger.info("试管摇匀移动到90度");
+		canBus.stepMotorEasyMoveTo(MId.ShakeModShakeM, pp.getShakeModShakeMStandbyPos());
+		canBus.waitForMod(MId.ShakeModShakeM, timep.getActionOvertime());
+
+
+		//Y轴向前移动
+		logger.info("夹爪Y轴移动到取试管位置");
+		canBus.miniServoMoveTo(MId.ShakeModGripperYSV, pp.getGripperTakeTubeYPos());
+		canBus.waitForMod(MId.ShakeModGripperYSV, timep.getActionOvertime());
+
+
+		//打开夹爪
+		logger.info("打开抓手");
+		canBus.miniServoMoveTo(MId.ShakeModGripperSV, pp.getGripperOpenPos());
+		canBus.waitForMod(MId.ShakeModGripperSV, timep.getActionOvertime());
+
+
+		//Z轴下移动到试管帽有无检测位
+		logger.info("Z轴下移动到试管帽有无检测位");
+		canBus.stepMotorEasyMoveTo(MId.ShakeModGripperZM, gripperJudgeCapZPos);
+		canBus.waitForMod(MId.ShakeModGripperZM, timep.getActionOvertime());
+
+
+		//闭合夹爪检测试管帽是否存在
+		logger.info("闭合夹爪检测试管帽是否存在");
+		canBus.miniServoRotateWithTorque(MId.ShakeModGripperSV, -400);
+		Thread.sleep(timep.getTubeCapJudgeDelayTime());
+		if (ZEQ.IntEq(canBus.miniServoReadPos(MId.ShakeModGripperSV), pp.getGripperClosePos(), 30)) {
+			logger.info("试管帽不存在");
+			tubeCapExist = false;
+		}
+
+
+		if (debug || tubeCapExist) {
+			//打开夹爪
+			logger.info("打开夹爪");
+			canBus.miniServoMoveTo(MId.ShakeModGripperSV, pp.getGripperOpenPos());
+			canBus.waitForMod(MId.ShakeModGripperSV, timep.getActionOvertime());
+
+
+			//Z轴下移动到取试管位置
+			logger.info("Z轴下移动到取试管位置");
+			canBus.stepMotorEasyMoveTo(MId.ShakeModGripperZM, gripperTakeTubeZPos);
+			canBus.waitForMod(MId.ShakeModGripperZM, timep.getActionOvertime());
+
+
+			//夹爪夹紧
+			logger.info("夹爪夹紧");
+			canBus.miniServoMoveTo(MId.ShakeModGripperSV, pp.getGripperTakeCapPos());
+			canBus.waitForMod(MId.ShakeModGripperSV, timep.getActionOvertime());
+
+
+			//Z轴上移动到零位
+			logger.info("Z轴上移动到零位");
+			canBus.stepMotorEasyMoveTo(MId.ShakeModGripperZM, 0);
+			canBus.waitForMod(MId.ShakeModGripperZM, timep.getActionOvertime());
+
+
+			//Y轴移动到摇匀位
+			logger.info("Y轴移动到摇匀位");
+
+			canBus.miniServoMoveTo(MId.ShakeModGripperYSV, pp.getGripperShakeYPos() - 50); //该动作是为了消除齿轮间隙
+			canBus.waitForMod(MId.ShakeModGripperYSV, timep.getActionOvertime());
+
+			canBus.miniServoMoveTo(MId.ShakeModGripperYSV, pp.getGripperShakeYPos());
+			canBus.waitForMod(MId.ShakeModGripperYSV, timep.getActionOvertime());
+
+
+			//Z轴下移动到摇匀位放试管的位置
+			logger.info("Z轴下移动到摇匀位放试管的位置");
+			canBus.stepMotorEasyMoveTo(MId.ShakeModGripperZM, gripperShakeZPos);
+			canBus.waitForMod(MId.ShakeModGripperZM, timep.getActionOvertime());
+
+
+			//夹紧试管
+			logger.info("夹紧试管");
+			canBus.stepMotorEasyMoveTo(MId.ShakeModClampingM, pp.getShakeClampingPos());
+			canBus.waitForMod(MId.ShakeModClampingM, timep.getActionOvertime());
+
+
+			//松开夹爪，放置试管
+			logger.info("松开夹爪，放置试管");
+			canBus.miniServoMoveTo(MId.ShakeModGripperSV, pp.getGripperOpenPos());
+			canBus.waitForMod(MId.ShakeModGripperSV, timep.getActionOvertime());
+
+
+			//Z轴上移动到零位
+			logger.info("Z轴上移动到零位");
+			canBus.stepMotorEasyMoveTo(MId.ShakeModGripperZM, 0);
+			canBus.waitForMod(MId.ShakeModGripperZM, timep.getActionOvertime());
+
+
+			//Z轴归零,校准一次位置
+			logger.info("Z轴归零");
+			canBus.stepMotorEasyMoveToZero(MId.ShakeModGripperZM);
+			canBus.waitForMod(MId.ShakeModGripperZM, timep.getActionOvertime());
+
+
+			//Y轴移动到零位
+			logger.info("Y轴移动到零位");
+			canBus.miniServoMoveTo(MId.ShakeModGripperYSV, pp.getGripperZeroYPos());
+			canBus.waitForMod(MId.ShakeModGripperYSV, timep.getActionOvertime());
+
+
+		} else {
+			modGroupMoveToZeroQuick();
+		}
+		return AppRet.success(tubeCapExist);        //Z轴下移动试管判断的位置
+	}
+
+
+	@EnginnerPageAction(name = "摇匀")
+	public void shakeTube(Integer shakeDegree, Integer times) throws HardwareException, InterruptedException {
+		var standByPos = pp.getShakeModShakeMStandbyPos();
+		var startPos   = standByPos - shakeDegree;
+		var endPos     = standByPos + shakeDegree;
+		canBus.stepMotorEasyReciprocatingMotion(MId.ShakeModShakeM, startPos, endPos, times);
+		canBus.waitForMod(MId.ShakeModShakeM, timep.getActionOvertime());
+	}
+
+	@EnginnerPageAction(name = "取试管帽")
+	public void takeTubeCap() throws HardwareException, InterruptedException {
+		//Y移动到取试管帽位置
+		logger.info("Y移动到取试管帽位置 && 打开夹爪");
+		canBus.miniServoMoveTo(MId.ShakeModGripperYSV, pp.getGripperShakeYPos());
+		canBus.miniServoMoveTo(MId.ShakeModGripperSV, pp.getGripperOpenPos());
+		canBus.waitForMods(new MId[]{MId.ShakeModGripperYSV, MId.ShakeModGripperSV}, timep.getActionOvertime());
+
+
+		//Z下移动到取试管帽位置
+		logger.info("Z下移动到取试管帽位置");
+		canBus.stepMotorEasyMoveTo(MId.ShakeModGripperZM, pp.getGripperTakeCapZPos() + 3);
+		canBus.waitForMod(MId.ShakeModGripperZM, timep.getActionOvertime());
+
+
+		//闭合夹爪
+		logger.info("闭合夹爪");
+		canBus.miniServoMoveTo(MId.ShakeModGripperSV, pp.getGripperTakeCapPos());
+		canBus.waitForMod(MId.ShakeModGripperSV, timep.getActionOvertime());
+
+		//Z上移动到零位
+		logger.info("Z上移动到零位");
+		canBus.stepMotorEasyMoveTo(MId.ShakeModGripperZM, 0);
+		canBus.waitForMods(new MId[]{MId.ShakeModGripperZM}, timep.getActionOvertime());
+
+		//Y移动到待机位
+		logger.info("Y移动到待机位");
+		canBus.miniServoMoveTo(MId.ShakeModGripperYSV, pp.getGripperZeroYPos());
+		canBus.waitForMods(new MId[]{MId.ShakeModGripperYSV}, timep.getActionOvertime());
+	}
+
+	/**
+	 * 盖试管帽，并将试管移动回试管架中
+	 */
+	@EnginnerPageAction(name = "盖试管帽并放回试管架")
+	public void pushBackTubeCapAndTakeBakTube(A8kTubeType tubeType) throws HardwareException, InterruptedException {
+		//移动Y轴到取试管帽位置
+		logger.info("移动Y轴到取试管帽位置");
+		canBus.miniServoMoveTo(MId.ShakeModGripperYSV, pp.getGripperShakeYPos());
+		canBus.waitForMod(MId.ShakeModGripperYSV, timep.getActionOvertime());
+
+
+		//移动Z轴盖帽
+		logger.info("移动Z轴盖帽");
+		canBus.stepMotorEasyMoveTo(MId.ShakeModGripperZM, pp.getGripperTakeCapZPos() + 10);
+		canBus.waitForMod(MId.ShakeModGripperZM, timep.getActionOvertime());
+
+
+		//打开试管夹
+		logger.info("打开试管夹");
+		canBus.stepMotorEasyMoveTo(MId.ShakeModClampingM, 70);
+		canBus.waitForMod(MId.ShakeModClampingM, timep.getActionOvertime());
+
+		//移动Z轴到零位
+		logger.info("移动Z轴到零位");
+		canBus.stepMotorEasyMoveTo(MId.ShakeModGripperZM, 0);
+		canBus.waitForMod(MId.ShakeModGripperZM, timep.getActionOvertime());
+
+		//移动Y轴到方式管的位置
+		logger.info("移动Y轴到方式管的位置");
+		canBus.miniServoMoveTo(MId.ShakeModGripperYSV, pp.getGripperTakeTubeYPos());
+		canBus.waitForMod(MId.ShakeModGripperYSV, timep.getActionOvertime());
+
+
+		//移动Z轴到取试管位置
+		logger.info("移动Z轴到取试管位置");
+		canBus.stepMotorEasyMoveTo(MId.ShakeModGripperZM, pp.getGripperTakeHTubeZPos() - 20);
+		canBus.waitForMod(MId.ShakeModGripperZM, timep.getActionOvertime());
+
+
+		//打开夹爪
+		logger.info("打开夹爪");
+		canBus.miniServoMoveTo(MId.ShakeModGripperSV, pp.getGripperOpenPos());
+		canBus.waitForMod(MId.ShakeModGripperSV, timep.getActionOvertime());
+
+
+		//Z轴上移动到零位
+		logger.info("Z轴上移动到零位");
+		canBus.stepMotorEasyMoveTo(MId.ShakeModGripperZM, 0);
+		canBus.waitForMod(MId.ShakeModGripperZM, timep.getActionOvertime());
+
+		//设备快速归零
+		modGroupMoveToZeroQuick();
+
+	}
+
+	/**
+	 * 气溶胶风扇控制
+	 */
+	@EnginnerPageAction(
+			name = "气溶胶风扇控制",
+			order = 1,
+			beforeExecute = "beforeActionExec"
+	)
+	public void setAeroslFanPower(Boolean enable) throws Exception {
+		if (enable) {
+			canBus.fanControlerSetSpeed(MId.WbTubeFanMod, 99);
+		} else {
+			canBus.fanControlerSetSpeed(MId.WbTubeFanMod, 0);
+		}
+	}
+
+	public void beforeActionExec(Method method, List<Object> params) {
+		System.out.println("beforeActionExec");
+	}
+}

src/main/java/a8k/service/hardwarev2/param/PosParam.java

@@ -0,0 +1,87 @@
+package a8k.service.hardwarev2.param;
+
+import a8k.controler.engineer.utils.*;
+import org.springframework.stereotype.Component;
+
+@Component
+@EngineerPageTab(name = "硬件参数-坐标参数", order = EnginnerPageTabOrder.PosParam)
+@EnginnerPageParams(service = PosParam.class)
+public class PosParam {
+	EnginnerParamReader hpReader = new EnginnerParamReader(EnginnerPageParams.class);
+
+	@EnginnerPageParam(name = "抓手张开位置", group = "抓手")
+	public Integer getGripperOpenPos() {
+		return hpReader.getInteger("GripperOpenPos", 150);
+	}
+
+	@EnginnerPageParam(name = "抓手闭合位置", group = "抓手")
+	public Integer getGripperClosePos() {
+		return hpReader.getInteger("GripperClosePos", 10);
+	}
+
+	@EnginnerPageParam(name = "抓手取试管位置", group = "抓手")
+	public Integer getGripperTakeCapPos() {
+		return hpReader.getInteger("GripperTakeCapPos", 55);
+	}
+
+	@EnginnerPageParam(name = "取试管位置", group = "Y轴位置")
+	public Integer getGripperTakeTubeYPos() {
+		return hpReader.getInteger("GripperTakeTubeYPos", 2750 + 300);
+	}
+
+	@EnginnerPageParam(name = "摇匀位置", group = "Y轴位置")
+	public Integer getGripperShakeYPos() {
+		return hpReader.getInteger("GripperShakeYPos", 1828 + 300);
+	}
+
+	@EnginnerPageParam(name = "待机位", group = "Y轴位置")
+	public Integer getGripperZeroYPos() {
+		return hpReader.getInteger("GripperZeroYPos", 300);
+	}
+
+
+	@EnginnerPageParam(name = "取高试管位置", group = "Z轴位置")
+	public Integer getGripperTakeHTubeZPos() {
+		return hpReader.getInteger("GripperTakeHTubeZPos", 739);
+	}
+
+	@EnginnerPageParam(name = "取低试管位置", group = "Z轴位置")
+	public Integer getGripperTakeSTubeZPos() {
+		return hpReader.getInteger("GripperTakeSTubeZPos", 985);
+	}
+
+	//JudgeTubeCapZ
+	@EnginnerPageParam(name = "高试管帽有无判断位", group = "Z轴位置")
+	public Integer getGripperJudgeHTubeCapZPos() {
+		return hpReader.getInteger("GripperJudgeHTubeCapZPos", 591);
+	}
+
+	@EnginnerPageParam(name = "低试管帽有无判断位", group = "Z轴位置")
+	public Integer getGripperJudgeSTubeCapZPos() {
+		return hpReader.getInteger("GripperJudgeSTubeCapZPos", 867);
+	}
+
+	//ShakeTubeZ
+	@EnginnerPageParam(name = "摇匀放置位置", group = "Z轴位置")
+	public Integer getGripperShakeTubeZPos() {
+		return hpReader.getInteger("GripperShakeTubeZPos", 835);
+	}
+
+	//TakeCapZ
+	@EnginnerPageParam(name = "取试管帽位", group = "Z轴位置")
+	public Integer getGripperTakeCapZPos() {
+		return hpReader.getInteger("GripperTakeCapZPos", 835);
+	}
+
+	@EnginnerPageParam(name = "试管夹紧位", group = "试管夹紧模块")
+	public Integer getShakeClampingPos() {
+		return hpReader.getInteger("ShakeClampingPos", 10);
+	}
+
+	@EnginnerPageParam(name = "摇匀臂", group = "试管摇匀待机位")
+	public Integer getShakeModShakeMStandbyPos() {
+		return hpReader.getInteger("ShakeModShakeMStandbyPos", 90);
+	}
+
+
+}

src/main/java/a8k/service/hardwarev2/param/TimeParam.java

@@ -0,0 +1,23 @@
+package a8k.service.hardwarev2.param;
+
+
+import a8k.controler.engineer.utils.*;
+import org.springframework.stereotype.Component;
+
+@Component
+@EngineerPageTab(name = "底层-参数-时间参数", order = EnginnerPageTabOrder.TimeParam)
+@EnginnerPageParams(service = PosParam.class)
+public class TimeParam {
+	EnginnerParamReader hpReader = new EnginnerParamReader(EnginnerPageParams.class);
+
+	@EnginnerPageParam(name = "动作超时时间", group = "基础参数")
+	public Integer getActionOvertime() {
+		return hpReader.getInteger("ActionOvertime", 5000);
+	}
+
+	@EnginnerPageParam(name = "试管帽有无判断时间", group = "基础参数")
+	public Integer getTubeCapJudgeDelayTime() {
+		return hpReader.getInteger("TubeCapJudgeDelayTime", 300);
+	}
+
+}

src/main/java/a8k/utils/ZEQ.java

@@ -0,0 +1,7 @@
+package a8k.utils;
+
+public class ZEQ {
+	static public Boolean IntEq(Integer pos1, Integer pos2, Integer diff) {
+		return Math.abs(pos1 - pos2) < diff;
+	}
+}