update

src/main/java/a8k/app/hardware/driver/CodeScanerDriver.java

@@ -30,6 +30,14 @@ public class CodeScanerDriver {
 		return pipetteModCodeScannerScanCode(300);
 	}
 
+	public void pipetteModCodeScannerStartScan() throws AppException {
+		codeScanerStartScan(MId.PipetteModCodeScanner);
+	}
+
+	public void pipetteModCodeScannerStopScan() throws AppException {
+		codeScanerStopScan(MId.PipetteModCodeScanner);
+	}
+
 
 	public String feedingModScannerModCodeScannerScanCode(Integer waittime) {
 		try {
@@ -42,27 +50,26 @@ public class CodeScanerDriver {
 		}
 	}
 
-
-	public void codeScanerStartScan(MId id) throws AppException {
-		canBus.callcmd(id, CmdId.code_scaner_start_scan);
+	public void feedingModScannerModCodeScannerStartScan() throws AppException {
+		codeScanerStartScan(MId.FeedingModScannerMod);
 	}
 
-	public void codeScanerStopScan(MId id) throws AppException {
-		canBus.callcmd(id, CmdId.code_scaner_stop_scan);
+	public void feedingModScannerModCodeScannerStopScan() throws AppException {
+		codeScanerStopScan(MId.FeedingModScannerMod);
 	}
 
-	public String codeScanerReadScanerResult(MId id) throws AppException {
+	private String codeScanerReadScanerResult(MId id) throws AppException {
 		A8kPacket ack          = canBus.callcmd(id, CmdId.code_scaner_read_scaner_result);
 		var       contentBytes = ack.getCmdContent();
 		return new String(contentBytes);
 	}
 
-	public Boolean codeScanerResultIsReady(MId id) throws AppException {
+	private Boolean codeScanerResultIsReady(MId id) throws AppException {
 		var packet = canBus.callcmd(id, CmdId.code_scaner_result_is_ready);
 		return packet.getContentI32(0) != 0;
 	}
 
-	public String codeScanerWaittingForResult(MId mid, Integer acitionOvertime) throws AppException {
+	private String codeScanerWaittingForResult(MId mid, Integer acitionOvertime) throws AppException {
 		long startedAt = System.currentTimeMillis();
 		do {
 			if (codeScanerResultIsReady(mid))
@@ -78,4 +85,13 @@ public class CodeScanerDriver {
 		return codeScanerReadScanerResult(mid);
 	}
 
+
+	private void codeScanerStartScan(MId id) throws AppException {
+		canBus.callcmd(id, CmdId.code_scaner_start_scan);
+	}
+
+	private void codeScanerStopScan(MId id) throws AppException {
+		canBus.callcmd(id, CmdId.code_scaner_stop_scan);
+	}
 }
+

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

@@ -8,12 +8,14 @@ import a8k.app.type.exception.AppException;
 import a8k.app.utils.DoAction;
 import io.swagger.v3.oas.annotations.media.Schema;
 import jakarta.annotation.Resource;
+import lombok.RequiredArgsConstructor;
 import org.springframework.stereotype.Component;
 
 import java.util.ArrayList;
 import java.util.List;
 
 @Component
+@RequiredArgsConstructor
 public class ConsumablesScanCtrlService {
 
 	public static class ConsumableOneChRawResult {
@@ -32,14 +34,10 @@ public class ConsumablesScanCtrlService {
 		}
 	}
 
-	@Resource
-	VirtualDevice          virtualDevice;
-	@Resource
-	Hbot2DCodeScanParamMgr hbotScanPos;
-	@Resource
-	CodeScanerDriver       codeScaner;
-	@Resource
-	HbotMoveCtrlService    hbot;
+
+	private final VirtualDevice         virtualDevice;
+	private final CodeScanerDriver      codeScaner;
+	private final HbotMoveExCtrlService hbotMoveExCtrlService;
 
 	//
 	//	VIRTUAL
@@ -82,7 +80,7 @@ public class ConsumablesScanCtrlService {
 			larBSScanResult[i] = virtualDevice.isEnable() ? virtualLarBSScanResult[i] : scanLarBS(i);
 		}
 
-		DoAction.doIt("扫描耗材", () -> hbotMoveTo(new Pos2d(0, 0)));
+		DoAction.doIt("扫描耗材", hbotMoveExCtrlService::moveQuickToZero);
 
 
 		for (int i = 0; i < 6; i++) {
@@ -101,34 +99,19 @@ public class ConsumablesScanCtrlService {
 	}
 
 
-	//
-	//	PRIVATE
-	//
-	private void hbotMoveTo(Pos2d tpos) throws AppException {
-		hbot.hbotMoveTo(tpos);
-	}
-
-	private String scan2dCode() throws AppException {
-		return codeScaner.pipetteModCodeScannerScanCode();
-	}
-
 	public String scanPB(int ch) throws AppException {
-		Pos2d pos = hbotScanPos.getPBScanPosX(ch);
-		hbotMoveTo(pos);
-		return scan2dCode();
-
+		hbotMoveExCtrlService.moveToPBCodeScanPos(ch);
+		return codeScaner.pipetteModCodeScannerScanCode();
 	}
 
 	public String scanLittBS(int ch) throws AppException {
-		Pos2d pos = hbotScanPos.getLittBSX(ch);
-		hbotMoveTo(pos);
-		return scan2dCode();
+		hbotMoveExCtrlService.moveToLittleBSCodeScanPos(ch);
+		return codeScaner.pipetteModCodeScannerScanCode();
 	}
 
 	public String scanLarBS(int ch) throws AppException {
-		Pos2d pos = hbotScanPos.getLarBSX(ch);
-		hbotMoveTo(pos);
-		return scan2dCode();
+		hbotMoveExCtrlService.moveToLargeBSCodeScanPos(ch);
+		return codeScaner.pipetteModCodeScannerScanCode();
 	}
 
 

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

@@ -1,5 +1,6 @@
 package a8k.app.service.lowerctrl;
 
+import a8k.app.service.param.hbotpos.Hbot2DCodeScanParamMgr;
 import a8k.app.type.a8k.ConsumableGroup;
 import a8k.app.type.a8k.pos.TipGroupPos;
 import a8k.app.type.a8k.pos.TipPos;
@@ -19,32 +20,28 @@ import a8k.app.type.param.hbotpos.HbotSamplePos;
 import a8k.app.type.exception.AppException;
 import a8k.app.service.utils.ZAppChecker;
 import jakarta.annotation.Resource;
+import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 import org.springframework.util.Assert;
 
 @Slf4j
 @Component
+@RequiredArgsConstructor
 public class HbotMoveExCtrlService {
 
-	@Resource
-	HbotFixedPosParamMgr     hbotFixedPosParamMgr;
-	@Resource
-	HbotSamplePosParamMgr    hbotSamplePosParamMgr;
-	@Resource
-	HbotConsumableExParamMgr hbotConsumableExParamMgr;
-	@Resource
-	HbotTipPosMgr            hbotTipPosMgr;
-
-	@Resource
-	PipetteCtrlDriver   pipetteCtrlDriver;
-	@Resource
-	HbotMoveCtrlService hbotMoveCtrlService;
-	@Resource
-	HbotDriver          hbotDriver;
-
-	@Resource
-	ZAppChecker checker;
+
+	private final HbotFixedPosParamMgr     hbotFixedPosParamMgr;
+	private final HbotSamplePosParamMgr    hbotSamplePosParamMgr;
+	private final HbotConsumableExParamMgr hbotConsumableExParamMgr;
+	private final HbotTipPosMgr            hbotTipPosMgr;
+	private final Hbot2DCodeScanParamMgr   hbot2DCodeScanParamMgr;
+
+	private final PipetteCtrlDriver   pipetteCtrlDriver;
+	private final HbotMoveCtrlService hbotMoveCtrlService;
+	private final HbotDriver          hbotDriver;
+
+	private final ZAppChecker checker;
 
 	public void checkTipIndex(TipGroupPos tipGroupPos, Integer index) throws AppException {
 		if (index >= AppConstant.TIP_NUM) {
@@ -91,7 +88,7 @@ public class HbotMoveExCtrlService {
 		pipetteCtrlDriver.zMotorMoveByBlock(-100);
 
 		Boolean isHasTip = pipetteCtrlDriver.isHasTip();
-			pipetteCtrlDriver.pipetteInitDeviceBlock(); //相当于丢弃tip
+		pipetteCtrlDriver.pipetteInitDeviceBlock(); //相当于丢弃tip
 
 		pipetteCtrlDriver.zMotorMoveToZeroPointQuickBlock();
 		return isHasTip;
@@ -245,6 +242,29 @@ public class HbotMoveExCtrlService {
 		hbotMoveCtrlService.hbotMoveTo(topos);
 	}
 
+	public void moveToPBCodeScanPos(Integer groupoff) throws AppException {
+		hbotMoveCtrlService.hbotMoveTo(hbot2DCodeScanParamMgr.getPBScanPosX(groupoff));
+	}
+
+	public void moveToLittleBSCodeScanPos(Integer groupoff) throws AppException {
+		hbotMoveCtrlService.hbotMoveTo(hbot2DCodeScanParamMgr.getLittBSX(groupoff));
+	}
+
+	public void moveToLargeBSCodeScanPos(Integer groupoff) throws AppException {
+		hbotMoveCtrlService.hbotMoveTo(hbot2DCodeScanParamMgr.getLarBSX(groupoff));
+	}
+
+	public void moveToPBCodeScanPos(ConsumableGroup group) throws AppException {
+		hbotMoveCtrlService.hbotMoveTo(hbot2DCodeScanParamMgr.getPBScanPosX(group.off));
+	}
+
+	public void moveToLittleBSCodeScanPos(ConsumableGroup group) throws AppException {
+		hbotMoveCtrlService.hbotMoveTo(hbot2DCodeScanParamMgr.getLittBSX(group.off));
+	}
+
+	public void moveToLargeBSCodeScanPos(ConsumableGroup group) throws AppException {
+		hbotMoveCtrlService.hbotMoveTo(hbot2DCodeScanParamMgr.getLarBSX(group.off));
+	}
 
 	public void moveQuickToZero() throws AppException {
 		log.info("Hbot快速归零");

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

@@ -191,8 +191,7 @@ public class TubeFeedingCtrlService {
 		moveTubeRackToScanPos();
 
 		tubeFeedingExCtrlService.scanClampModClamp();
-		codeScaner.codeScanerStartScan(MId.FeedingModScannerMod);
-		result = codeScaner.codeScanerWaittingForResult(MId.FeedingModScannerMod, 1000);
+			result =	codeScaner.feedingModScannerModCodeScannerScanCode(1000);
 		tubeFeedingExCtrlService.scanClampModRelease();
 		if (result == null || result.isEmpty()) {
 			return "";

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

@@ -4,23 +4,17 @@ import a8k.app.service.param.base.ParamMgr;
 import a8k.app.type.param.hbotpos.Hbot2DCodeScanPos;
 import a8k.app.type.a8k.Pos2d;
 import jakarta.annotation.PostConstruct;
-import jakarta.annotation.Resource;
-import org.slf4j.Logger;
-import org.slf4j.LoggerFactory;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
 /**
  * HBOT二维码扫描坐标参数
  */
 @Component
+@RequiredArgsConstructor
+@Slf4j
 public class Hbot2DCodeScanParamMgr extends ParamMgr {
-	static final Logger logger = LoggerFactory.getLogger(Hbot2DCodeScanParamMgr.class);
-
-	@Resource
-	HbotLittleBSPosMgr hbotLittleBSPosMgr;
-
-	@Resource
-	HbotLargeBottleBSPosMgr largeBottleBSPosMgr;
 
 
 	@PostConstruct
@@ -28,7 +22,11 @@ public class Hbot2DCodeScanParamMgr extends ParamMgr {
 		for (Hbot2DCodeScanPos pos : Hbot2DCodeScanPos.values()) {
 			initParam(pos, pos.chName, pos.type);
 		}
-		initParam(Hbot2DCodeScanPos.PBDY, Hbot2DCodeScanPos.PBDY.chName, Hbot2DCodeScanPos.PBDY.type, 265.0);
+		initParam(Hbot2DCodeScanPos.PBQRCodeDY, Hbot2DCodeScanPos.PBQRCodeDY.chName, Hbot2DCodeScanPos.PBQRCodeDY.type, 2650.0);
+		initParam(Hbot2DCodeScanPos.LargeBSQRCodeDX, Hbot2DCodeScanPos.LargeBSQRCodeDX.chName, Hbot2DCodeScanPos.LargeBSQRCodeDX.type, 2650.0);
+		initParam(Hbot2DCodeScanPos.LargeBSQRCodeDY, Hbot2DCodeScanPos.LargeBSQRCodeDY.chName, Hbot2DCodeScanPos.LargeBSQRCodeDY.type, 2650.0);
+		initParam(Hbot2DCodeScanPos.LittleBQRCodeDX, Hbot2DCodeScanPos.LittleBQRCodeDX.chName, Hbot2DCodeScanPos.LittleBQRCodeDX.type, 12300.0);
+		initParam(Hbot2DCodeScanPos.LittleBQRCodeDY, Hbot2DCodeScanPos.LittleBQRCodeDY.chName, Hbot2DCodeScanPos.LittleBQRCodeDY.type, 12540.0);
 		for (int i = 0; i < 6; i++) {
 			getPBScanPosX(i);
 			getLittBSX(i);
@@ -40,10 +38,44 @@ public class Hbot2DCodeScanParamMgr extends ParamMgr {
 		setParam(Hbot2DCodeScanPos.PBScanPos0, pos);
 	}
 
+	public void setPBDY(Double dy) {
+		setParam(Hbot2DCodeScanPos.PBQRCodeDY, dy);
+	}
+
+	public Double getPBDY() {
+		return getParam(Hbot2DCodeScanPos.PBQRCodeDY, Double.class);
+	}
+
 	public void setLittBSX(Pos2d pos) {
 		setParam(Hbot2DCodeScanPos.LittBS0, pos);
 	}
 
+	public void setLittleBQRCodeDxAndDy(Double dx, Double dy) {
+		setParam(Hbot2DCodeScanPos.LittleBQRCodeDX, dx);
+		setParam(Hbot2DCodeScanPos.LittleBQRCodeDY, dy);
+	}
+
+	public Double getLittleBQRCodeDX() {
+		return getParam(Hbot2DCodeScanPos.LittleBQRCodeDX, Double.class);
+	}
+
+	public Double getLittleBQRCodeDY() {
+		return getParam(Hbot2DCodeScanPos.LittleBQRCodeDY, Double.class);
+	}
+
+	public void setLargeBSQRCodeDxAndDy(Double dx, Double dy) {
+		setParam(Hbot2DCodeScanPos.LargeBSQRCodeDX, dx);
+		setParam(Hbot2DCodeScanPos.LargeBSQRCodeDY, dy);
+	}
+
+	public Double getLargeBSQRCodeDX() {
+		return getParam(Hbot2DCodeScanPos.LargeBSQRCodeDX, Double.class);
+	}
+
+	public Double getLargeBSQRCodeDY() {
+		return getParam(Hbot2DCodeScanPos.LargeBSQRCodeDY, Double.class);
+	}
+
 	public void setLarBSX(Pos2d pos) {
 		setParam(Hbot2DCodeScanPos.LarBS0, pos);
 	}
@@ -53,7 +85,7 @@ public class Hbot2DCodeScanParamMgr extends ParamMgr {
 		if (pos == null) {
 			return null;
 		}
-		Double dy = getParam(Hbot2DCodeScanPos.PBDY, Double.class);
+		Double dy = getParam(Hbot2DCodeScanPos.PBQRCodeDY, Double.class);
 
 
 		pos.y = (int) (pos.y + dy * channel);
@@ -67,10 +99,12 @@ public class Hbot2DCodeScanParamMgr extends ParamMgr {
 		if (pos == null) {
 			return null;
 		}
-		pos.x = (int) (pos.x + xoff * hbotLittleBSPosMgr.getGroupDX());
-		pos.y = (int) (pos.y + yoff * hbotLittleBSPosMgr.getGroupDY());
+		pos.x = (int) (pos.x + xoff * getParam(Hbot2DCodeScanPos.LittleBQRCodeDX, Double.class));
+		pos.y = (int) (pos.y + yoff * getParam(Hbot2DCodeScanPos.LittleBQRCodeDY, Double.class));
 		return pos;
 	}
+	//	LargeBufferScanPos_DX("大瓶缓冲液的扫码位置dx", Double.class),
+	//	LargeBufferScanPos_DY("大瓶缓冲液的扫码位置dy", Double.class),
 
 
 	public Pos2d getLarBSX(Integer X) {
@@ -80,8 +114,8 @@ public class Hbot2DCodeScanParamMgr extends ParamMgr {
 		if (pos == null) {
 			return null;
 		}
-		pos.x = (int) (pos.x + xoff * largeBottleBSPosMgr.getLargeBufferScanPosDx());
-		pos.y = (int) (pos.y + yoff * largeBottleBSPosMgr.getLargeBufferScanPosDy());
+		pos.x = (int) (pos.x + xoff * getParam(Hbot2DCodeScanPos.LargeBSQRCodeDX, Double.class));
+		pos.y = (int) (pos.y + yoff * getParam(Hbot2DCodeScanPos.LargeBSQRCodeDY, Double.class));
 		return pos;
 	}
 

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

@@ -68,11 +68,11 @@ public class HbotLargeBottleBSPosMgr extends ParamMgr {
 		var.z = getParam(HbotLargeBottleBSPos.LargeBottleBufferBottomZAxisPos, Double.class).intValue();
 		return var;
 	}
-	public Double getLargeBufferScanPosDx() {
-		return getParam(HbotLargeBottleBSPos.LargeBufferScanPos_DX, Double.class);
-	}
-
-	public Double getLargeBufferScanPosDy() {
-		return getParam(HbotLargeBottleBSPos.LargeBufferScanPos_DY, Double.class);
-	}
+//	public Double getLargeBufferScanPosDx() {
+//		return getParam(HbotLargeBottleBSPos.LargeBufferScanPos_DX, Double.class);
+//	}
+//
+//	public Double getLargeBufferScanPosDy() {
+//		return getParam(HbotLargeBottleBSPos.LargeBufferScanPos_DY, Double.class);
+//	}
 }

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

@@ -7,7 +7,12 @@ public enum Hbot2DCodeScanPos {
 	LittBS0("小缓冲液扫码位置0", Pos2d.class),
 	LarBS0("大缓冲液扫码位置0", Pos2d.class),
 
-	PBDY("板夹仓扫码位置Y", Double.class),
+	PBQRCodeDY("板夹仓扫码GROUP间距", Double.class),
+	LargeBSQRCodeDX("大瓶缓冲液的扫码GROUP间距", Double.class),
+	LargeBSQRCodeDY("大瓶缓冲液的扫码GROUP间距", Double.class),
+
+	LittleBQRCodeDX("小瓶缓冲液的GROUP间距", Double.class),
+	LittleBQRCodeDY("小瓶缓冲液的GROUP间距", Double.class),
 
 	;
 	public final String   chName;

src/main/java/a8k/app/type/param/hbotpos/HbotLargeBottleBSPos.java

@@ -7,8 +7,7 @@ public enum HbotLargeBottleBSPos {
 	LargeBuffer_0Pos("大瓶缓冲液的第1个位置", Pos2d.class),
 	LargeBuffer_DX("大瓶缓冲液的X间距", Double.class),
 	LargeBuffer_DY("大瓶缓冲液的Y间距", Double.class),
-	LargeBufferScanPos_DX("大瓶缓冲液的扫码位置dx", Double.class),
-	LargeBufferScanPos_DY("大瓶缓冲液的扫码位置dy", Double.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),

src/main/java/a8k/app/type/param/hbotpos/HbotLittleBSPos.java

@@ -1,3 +1,7 @@
+
+
+
+
 package a8k.app.type.param.hbotpos;
 
 import a8k.app.type.a8k.Pos2d;

src/main/java/a8k/extui/mgr/ExtApiPageGroupCfgMgr.java

@@ -2,6 +2,7 @@ package a8k.extui.mgr;
 
 import a8k.app.utils.ZList;
 import a8k.extui.page.debug.*;
+import a8k.extui.page.driver.*;
 import a8k.extui.page.extapp.*;
 import a8k.extui.page.extapp.debug_assistant.IDCardDataGeneratorPage;
 import a8k.extui.page.extsetting.db.A8kSubModuleParameterInitDebugPage;
@@ -10,7 +11,6 @@ import a8k.extui.page.extsetting.db.ProjInfoMgrPage;
 import a8k.extui.page.extsetting.db.ReactionRecordMgrDebugPage;
 import a8k.extui.page.init.DeviceInitPage;
 import a8k.extui.page.measurement.*;
-import a8k.extui.page.test.driver.*;
 
 import a8k.extui.page.test.codetest.OptFormulaTestPage;
 import a8k.extui.page.test.codetest.OptFormulaTestPageV2;
@@ -156,6 +156,7 @@ public class ExtApiPageGroupCfgMgr {
 						new Menu(P32HbotPosVerificationPage.class, "单步-HBOT位置"),
 						new Menu(P33HbotSamplePosVerificationPage.class, "单步-取样品位置"),
 						new Menu(P34LiquidOperationTestPage.class, "单步-液体操作"),
+						new Menu(HbotCodeScanPosVerificationPage.class, "单步-HBOT扫码"),
 						new Menu(P50VerificationScriptPage.class, "脚本-模块验证"),
 						new Menu(P51FullFlowVerificationPage.class, "脚本-全流程验证")
 				)),

src/main/java/a8k/extui/page/driver/CodeScanerDriverCtrlPage.java

@@ -0,0 +1,66 @@
+package a8k.extui.page.driver;
+
+import a8k.app.type.exception.AppException;
+import a8k.app.hardware.driver.CodeScanerDriver;
+import a8k.extui.mgr.ExtApiPageMgr;
+import jakarta.annotation.PostConstruct;
+import lombok.RequiredArgsConstructor;
+import org.springframework.stereotype.Component;
+
+@Component
+@RequiredArgsConstructor
+public class CodeScanerDriverCtrlPage {
+
+
+	final private ExtApiPageMgr    extApiPageMgr;
+	final private CodeScanerDriver codeScanerDriver;
+
+	public String pipetteModCodeScannerScanCode() throws AppException {
+		var ret = codeScanerDriver.pipetteModCodeScannerScanCode(10 * 1000);
+		if (ret == null || ret.isEmpty()) {
+			return "null";
+		}
+		return ret;
+	}
+
+	public void pipetteGunStartScan() throws AppException {
+		codeScanerDriver.pipetteModCodeScannerStartScan();
+	}
+
+	public void pipetteGunStopScan() throws AppException {
+		codeScanerDriver.pipetteModCodeScannerStopScan();
+	}
+
+	public String feedingModScannerModCodeScannerScanCode() {
+		var ret = codeScanerDriver.feedingModScannerModCodeScannerScanCode(10 * 1000);
+		if (ret == null || ret.isEmpty()) {
+			return "null";
+		}
+		return ret;
+	}
+
+	public void feedingModScannerModCodeScannerStartScan() throws AppException {
+		codeScanerDriver.feedingModScannerModCodeScannerStartScan();
+	}
+
+	public void feedingModScannerModCodeScannerStopScan() throws AppException {
+		codeScanerDriver.feedingModScannerModCodeScannerStopScan();
+	}
+
+	@PostConstruct
+	void init() {
+		var page = extApiPageMgr.newPage(this);
+
+		page.newGroup("Z轴扫码器");
+		page.addFunction("扫码(阻塞)", this::pipetteModCodeScannerScanCode);
+		page.addFunction("扫码开始", this::pipetteGunStartScan);
+		page.addFunction("扫码停止", this::pipetteGunStopScan);
+
+		page.newGroup("进出料扫描");
+		page.addFunction("扫码(阻塞)", this::feedingModScannerModCodeScannerScanCode);
+		page.addFunction("扫码开始", this::feedingModScannerModCodeScannerStartScan);
+		page.addFunction("扫码停止", this::feedingModScannerModCodeScannerStopScan);
+
+		extApiPageMgr.addPage(page);
+	}
+}

src/main/java/a8k/extui/page/driver/HbotCtrlPage.java

@@ -0,0 +1,172 @@
+package a8k.extui.page.driver;
+
+import a8k.app.constant.GearBacklashConstant;
+import a8k.app.hardware.driver.HbotDriver;
+import a8k.app.hardware.driver.PipetteCtrlDriver;
+import a8k.app.hardware.type.PipetteRegIndex;
+import a8k.app.type.a8k.Pos2d;
+import a8k.app.type.a8k.Pos3d;
+import a8k.app.type.exception.AppException;
+import a8k.extui.mgr.ExtApiPageMgr;
+import a8k.extui.type.ExtApiStatu;
+import jakarta.annotation.PostConstruct;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+@Component
+@Slf4j
+@RequiredArgsConstructor
+public class HbotCtrlPage {
+
+
+	private final ExtApiPageMgr     extApiPageMgr;
+	private final HbotDriver        hbotDriver;
+	private final PipetteCtrlDriver pipetteCtrlDriver;
+
+	@ExtApiStatu(group = "Hbot当前坐标")
+	public Pos3d readPos() throws AppException {
+		Pos3d pos = new Pos3d();
+		pos.x = hbotDriver.readPos().x;
+		pos.y = hbotDriver.readPos().y;
+		pos.z = pipetteCtrlDriver.getReg(PipetteRegIndex.kreg_pipette_zm_pos);
+		return pos;
+	}
+
+	Integer moveByDistance       = 100;
+	Integer zMotorMoveByDistance = 10;
+
+	@ExtApiStatu(group = "HBOT相对移动距离")
+	public Integer getMoveByDistance() {
+		return moveByDistance;
+	}
+
+	@ExtApiStatu(group = "Z轴相对移动距离")
+	public Integer getZMotorMoveByDistance() {
+		return zMotorMoveByDistance;
+	}
+
+	public void moveBy(Integer dx, Integer dy) throws AppException {
+		hbotDriver.enable(1);
+		pipetteCtrlDriver.zMotorEnable(1);
+		Pos2d pos = hbotDriver.readPos();
+		pos.x += dx;
+		pos.y += dy;
+		hbotDriver.moveToBlock(pos.x - GearBacklashConstant.HBOT_GEAR_BACKLASH, pos.y);
+		hbotDriver.moveToBlock(pos.x, pos.y);
+	}
+
+	public void moveTo(Integer x, Integer y) throws AppException {
+		hbotDriver.enable(1);
+		pipetteCtrlDriver.zMotorEnable(1);
+		hbotDriver.moveToBlock(x - GearBacklashConstant.HBOT_GEAR_BACKLASH, y);
+		hbotDriver.moveToBlock(x, y);
+	}
+
+	public void zMotorMoveTo(Integer z) throws AppException {
+		pipetteCtrlDriver.zMotorMoveToBlock(z);
+	}
+
+	void zMotorMoveBy(Integer dz) throws AppException {
+		pipetteCtrlDriver.zMotorMoveByBlock(dz);
+	}
+
+
+	synchronized public void setMoveByDistance(Integer distance) {
+		moveByDistance = distance;
+	}
+
+	synchronized public void setzMotorMoveByDistance(Integer distance) {
+		zMotorMoveByDistance = distance;
+	}
+
+
+	synchronized public void mveoToZero() throws AppException {
+		hbotDriver.enable(1);
+		pipetteCtrlDriver.zMotorEnable(1);
+		pipetteCtrlDriver.zMotorMoveZeroBlock();
+		hbotDriver.moveToZeroBlock();
+	}
+
+	public void moveBackward() throws AppException {
+		moveBy(0, -moveByDistance);
+	}
+
+	public void moveForward() throws AppException {
+		moveBy(0, moveByDistance);
+	}
+
+	public void moveLeft() throws AppException {
+		moveBy(-moveByDistance, 0);
+	}
+
+	public void moveRight() throws AppException {
+		moveBy(moveByDistance, 0);
+	}
+
+	public void zmoveUp() throws AppException {
+		zMotorMoveBy(-zMotorMoveByDistance);
+	}
+
+	public void zmoveDown() throws AppException {
+		zMotorMoveBy(zMotorMoveByDistance);
+	}
+
+
+	public Pos3d measurementCurrentPos() throws AppException {
+		pipetteCtrlDriver.zMotorMeasureDistance();
+		Pos3d pos = new Pos3d();
+		pos.z = pipetteCtrlDriver.zMotorReadMeasureDistanceResult();
+		pos.x = hbotDriver.readPos().x;
+		pos.y = hbotDriver.readPos().y;
+		return pos;
+	}
+
+	public void measurementMoveTo(Integer x, Integer y, Integer z) throws AppException {
+		hbotDriver.enable(1);
+		pipetteCtrlDriver.zMotorEnable(1);
+		pipetteCtrlDriver.zMotorMoveToBlock(0);
+		hbotDriver.moveToBlock(x - GearBacklashConstant.HBOT_GEAR_BACKLASH, y);
+		hbotDriver.moveToBlock(x, y);
+		pipetteCtrlDriver.zMotorMoveToBlock(z);
+	}
+
+	public Pos3d readPosNoEx() {
+		try {
+			return readPos();
+		} catch (AppException e) {
+			log.error("readPosNoEx error", e);
+			return new Pos3d();
+		}
+	}
+
+
+	@PostConstruct
+	public void init() {
+		var page = extApiPageMgr.newPage(this);
+
+		page.newGroup("基础");
+		page.addFunction("归零", this::mveoToZero);
+
+		page.newGroup("Hbot");
+		page.addFunction("设置相对移动距离", this::setMoveByDistance).setParamVal("distance", () -> moveByDistance);
+		page.addFunction("前(向人移动)", this::moveForward);
+		page.addFunction("后", this::moveBackward);
+		page.addFunction("左", this::moveLeft);
+		page.addFunction("右", this::moveRight);
+		page.addFunction("移动到", this::moveTo).setParamVal("x", 0).setParamVal("y", 0);
+
+		page.newGroup("Z轴");
+		page.addFunction("设置Z轴相对移动距离", this::setzMotorMoveByDistance).setParamVal("distance", () -> zMotorMoveByDistance);
+		page.addFunction("上", this::zmoveUp);
+		page.addFunction("下", this::zmoveDown);
+		page.addFunction("移动到", this::zMotorMoveTo).setParamVal("z", 0);
+
+		page.newGroup("移动到");
+		page.addFunction("移动到", this::measurementMoveTo);
+		page.addFunction("移动到", this::measurementMoveTo);
+		page.addFunction("移动到", this::measurementMoveTo).setParamVal("x", readPosNoEx().x).setParamVal("y", readPosNoEx().y).setParamVal("z", readPosNoEx().z);
+
+		extApiPageMgr.addPage(page);
+	}
+}

src/main/java/a8k/extui/page/test/driver/InputIOStateScannerPage.java → src/main/java/a8k/extui/page/driver/InputIOStateScannerPage.java

@@ -1,4 +1,4 @@
-package a8k.extui.page.test.driver;
+package a8k.extui.page.driver;
 
 import a8k.app.type.exception.AppException;
 import a8k.app.hardware.driver.InputDetectDriver;

src/main/java/a8k/extui/page/test/driver/LowLevelBoardVersionPreviewPage.java → src/main/java/a8k/extui/page/driver/LowLevelBoardVersionPreviewPage.java

@@ -1,4 +1,4 @@
-package a8k.extui.page.test.driver;
+package a8k.extui.page.driver;
 
 import a8k.app.type.exception.AppException;
 import a8k.app.hardware.channel.A8kCanBusService;

src/main/java/a8k/extui/page/test/driver/MiniServoCtrlPage.java → src/main/java/a8k/extui/page/driver/MiniServoCtrlPage.java

@@ -1,4 +1,4 @@
-package a8k.extui.page.test.driver;
+package a8k.extui.page.driver;
 
 import a8k.app.type.exception.AppException;
 import a8k.app.hardware.driver.MiniServoDriver;

src/main/java/a8k/extui/page/test/driver/MotorCtrlPage.java → src/main/java/a8k/extui/page/driver/MotorCtrlPage.java

@@ -1,4 +1,4 @@
-package a8k.extui.page.test.driver;
+package a8k.extui.page.driver;
 
 import a8k.app.type.exception.AppException;
 import a8k.app.hardware.driver.StepMotorCtrlDriver;

src/main/java/a8k/extui/page/test/driver/OutputIOCtrlDebugPage.java → src/main/java/a8k/extui/page/driver/OutputIOCtrlDebugPage.java

@@ -1,4 +1,4 @@
-package a8k.extui.page.test.driver;
+package a8k.extui.page.driver;
 
 import a8k.app.type.exception.AppException;
 import a8k.app.hardware.driver.OutputIOCtrlDriver;

src/main/java/a8k/extui/page/test/driver/PipetteCtrlDriverPage.java → src/main/java/a8k/extui/page/driver/PipetteCtrlDriverPage.java

@@ -1,4 +1,4 @@
-package a8k.extui.page.test.driver;
+package a8k.extui.page.driver;
 
 import a8k.app.hardware.driver.PipetteCtrlDriver;
 import a8k.extui.mgr.ExtApiPageMgr;

src/main/java/a8k/extui/page/test/driver/PipetteMotorCtrlPage.java → src/main/java/a8k/extui/page/driver/PipetteMotorCtrlPage.java

@@ -1,19 +1,13 @@
-package a8k.extui.page.test.driver;
+package a8k.extui.page.driver;
 
 import a8k.app.hardware.driver.PipetteCtrlDriver;
-import a8k.app.hardware.driver.StepMotorCtrlDriver;
-import a8k.app.hardware.type.PipetteRegIndex;
-import a8k.app.hardware.type.StepMotorMId;
 import a8k.app.hardware.type.PipetteRegIndex;
 import a8k.app.type.exception.AppException;
 import a8k.app.utils.ZJsonNode;
 import a8k.extui.mgr.ExtApiPageMgr;
 import jakarta.annotation.PostConstruct;
-import jakarta.annotation.Resource;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.slf4j.Logger;
-import org.slf4j.LoggerFactory;
 import org.springframework.stereotype.Component;
 
 @Component

src/main/java/a8k/extui/page/extsetting/pos_calibration/P24Hbot2DCodeScanPosCalibrationPage.java

@@ -19,14 +19,27 @@ public class P24Hbot2DCodeScanPosCalibrationPage {
 		hbot2DCodeScanParamMgr.setPBScanPosX(new Pos2d(x, y));
 	}
 
+	public void setPBDY(Double dy) {
+		hbot2DCodeScanParamMgr.setPBDY(dy);
+	}
+
 	public void setLittBSX(Integer x, Integer y) {
 		hbot2DCodeScanParamMgr.setLittBSX(new Pos2d(x, y));
 	}
 
+	public void setLittleBQRCodeDxAndDy(Double dx, Double dy) {
+		hbot2DCodeScanParamMgr.setLittleBQRCodeDxAndDy(dx, dy);
+	}
+
+	public void setLargeBSQRCodeDxAndDy(Double dx, Double dy) {
+		hbot2DCodeScanParamMgr.setLargeBSQRCodeDxAndDy(dx, dy);
+	}
+
 	public void setLarBSX(Integer x, Integer y) {
 		hbot2DCodeScanParamMgr.setLarBSX(new Pos2d(x, y));
 	}
 
+
 	@Resource
 	ExtApiPageMgr extApiPageMgr;
 
@@ -34,16 +47,29 @@ public class P24Hbot2DCodeScanPosCalibrationPage {
 	public void init() {
 		var page = extApiPageMgr.newPage(this);
 
-		page.newGroup("");
+		page.newGroup("板夹仓");
 		page.addFunction("设置PB扫描位置", this::setPBScanPosX)
 				.setParamVal("x", () -> hbot2DCodeScanParamMgr.getPBScanPosX(0).x)
 				.setParamVal("y", () -> hbot2DCodeScanParamMgr.getPBScanPosX(0).y);
+		page.addFunction("设置PB扫描Y轴位置", this::setPBDY)
+				.setParamVal("dy", () -> hbot2DCodeScanParamMgr.getPBDY());
+
+		page.newGroup("小瓶缓冲液");
 		page.addFunction("设置小瓶缓冲液0位置", this::setLittBSX)
 				.setParamVal("x", () -> hbot2DCodeScanParamMgr.getLittBSX(0).x)
 				.setParamVal("y", () -> hbot2DCodeScanParamMgr.getLittBSX(0).y);
+		page.addFunction("设置小瓶缓冲液间距", this::setLittleBQRCodeDxAndDy)
+				.setParamVal("dx", () -> hbot2DCodeScanParamMgr.getLittleBQRCodeDX())
+				.setParamVal("dy", () -> hbot2DCodeScanParamMgr.getLittleBQRCodeDY());
+
+
+		page.newGroup("大瓶缓冲液");
 		page.addFunction("设大瓶缓冲液0位置", this::setLarBSX)
 				.setParamVal("x", () -> hbot2DCodeScanParamMgr.getLarBSX(0).x)
 				.setParamVal("y", () -> hbot2DCodeScanParamMgr.getLarBSX(0).y);
+		page.addFunction("设置大瓶缓冲液间距", this::setLargeBSQRCodeDxAndDy)
+				.setParamVal("dx", () -> hbot2DCodeScanParamMgr.getLargeBSQRCodeDX())
+				.setParamVal("dy", () -> hbot2DCodeScanParamMgr.getLargeBSQRCodeDY());
 
 
 		extApiPageMgr.addPage(page);

src/main/java/a8k/extui/page/measurement/HbotPosMeasurePage.java

@@ -1,6 +1,8 @@
 package a8k.extui.page.measurement;
 
 import a8k.app.constant.GearBacklashConstant;
+import a8k.app.hardware.driver.CodeScanerDriver;
+import a8k.app.service.lowerctrl.HbotMoveExCtrlService;
 import a8k.app.type.a8k.Pos2d;
 import a8k.app.type.a8k.Pos3d;
 import a8k.app.type.exception.AppException;
@@ -25,6 +27,7 @@ public class HbotPosMeasurePage {
 	private final ExtApiPageMgr     extApiPageMgr;
 	private final HbotDriver        hbotDriver;
 	private final PipetteCtrlDriver pipetteCtrlDriver;
+	private final CodeScanerDriver  codeScanerDriver;
 
 	@ExtApiStatu(group = "Hbot当前坐标")
 	public Pos3d readPos() throws AppException {
@@ -48,6 +51,18 @@ public class HbotPosMeasurePage {
 		return zMotorMoveByDistance;
 	}
 
+	public void openCodeScanner() throws AppException {
+		codeScanerDriver.pipetteModCodeScannerStartScan();
+	}
+
+	public void closeCodeScanner() throws AppException {
+		codeScanerDriver.pipetteModCodeScannerStopScan();
+	}
+
+	public String scanCode() throws AppException {
+		return codeScanerDriver.pipetteModCodeScannerScanCode();
+	}
+
 	public void moveBy(Integer dx, Integer dy) throws AppException {
 		hbotDriver.enable(1);
 		pipetteCtrlDriver.zMotorEnable(1);
@@ -139,7 +154,8 @@ public class HbotPosMeasurePage {
 		var page = extApiPageMgr.newPage(this);
 
 		page.newGroup("基础");
-		page.addFunction("开始测量", this::enableMeasurment);
+		page.addFunction("HBOT归零", this::enableMeasurment);
+		page.addFunction("测量当前位置",this::measurementCurrentPos);
 
 		page.newGroup("Hbot");
 		page.addFunction("设置相对移动距离", this::setMoveByDistance).setParamVal("distance", () -> moveByDistance);
@@ -155,6 +171,11 @@ public class HbotPosMeasurePage {
 		page.addFunction("下", this::zmoveDown);
 		page.addFunction("移动到", this::zMotorMoveTo).setParamVal("z", 0);
 
+		page.newGroup("扫码");
+		page.addFunction("打开扫码灯", this::openCodeScanner);
+		page.addFunction("关闭扫码灯", this::closeCodeScanner);
+		page.addFunction("扫码(阻塞)", this::scanCode);
+
 		page.newGroup("移动到");
 		page.addFunction("移动到", this::measurementMoveTo);
 		page.addFunction("移动到", this::measurementMoveTo);

src/main/java/a8k/extui/page/test/driver/CodeScanerDriverCtrlPage.java

@@ -1,44 +0,0 @@
-package a8k.extui.page.test.driver;
-
-import a8k.app.type.exception.AppException;
-import a8k.app.hardware.driver.CodeScanerDriver;
-import a8k.extui.mgr.ExtApiPageMgr;
-import jakarta.annotation.PostConstruct;
-import lombok.RequiredArgsConstructor;
-import org.springframework.stereotype.Component;
-
-@Component
-@RequiredArgsConstructor
-public class CodeScanerDriverCtrlPage {
-
-
-	final private ExtApiPageMgr    extApiPageMgr;
-	final private CodeScanerDriver codeScanerDriver;
-
-	public String pipetteModCodeScannerScanCode() throws AppException {
-		var ret = codeScanerDriver.pipetteModCodeScannerScanCode(10 * 1000);
-		if (ret == null || ret.isEmpty()) {
-			return "null";
-		}
-		return ret;
-	}
-
-	public String feedingModScannerModCodeScannerScanCode() {
-		var ret = codeScanerDriver.feedingModScannerModCodeScannerScanCode(10 * 1000);
-		if (ret == null || ret.isEmpty()) {
-			return "null";
-		}
-		return ret;
-	}
-
-	@PostConstruct
-	void init() {
-		var page = extApiPageMgr.newPage(this);
-
-		page.newGroup("扫码");
-		page.addFunction("机械臂Z轴板扫码", this::pipetteModCodeScannerScanCode);
-		page.addFunction("出入料模块扫码", this::feedingModScannerModCodeScannerScanCode);
-
-		extApiPageMgr.addPage(page);
-	}
-}

src/main/java/a8k/extui/page/test/verification/HbotCodeScanPosVerificationPage.java

@@ -0,0 +1,71 @@
+package a8k.extui.page.test.verification;
+
+import a8k.app.dao.type.db.ProjExtInfoCard;
+import a8k.app.hardware.driver.CodeScanerDriver;
+import a8k.app.hardware.type.A8kEcode;
+import a8k.app.i18n.Internationalization;
+import a8k.app.service.background.ProjIDCardCtrlAndMonitorService;
+import a8k.app.service.data.ProjIdCardInfoMgrService;
+import a8k.app.service.lowerctrl.DeviceMoveToZeroCtrlService;
+import a8k.app.service.lowerctrl.HbotMoveCtrlService;
+import a8k.app.service.lowerctrl.HbotMoveExCtrlService;
+import a8k.app.service.param.hbotpos.Hbot2DCodeScanParamMgr;
+import a8k.app.type.a8k.ConsumableGroup;
+import a8k.app.type.exception.AppException;
+import a8k.extui.mgr.ExtApiPageMgr;
+import a8k.extui.type.ExtUIPageCfg;
+import com.fasterxml.jackson.annotation.JsonInclude;
+import jakarta.annotation.PostConstruct;
+import jakarta.annotation.Resource;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.ArrayList;
+import java.util.List;
+
+@Component
+@Slf4j
+@RequiredArgsConstructor
+public class HbotCodeScanPosVerificationPage {
+	private final ExtApiPageMgr         extApiPageMgr;
+	private final HbotMoveExCtrlService hbotMoveExCtrlService;
+	private final CodeScanerDriver      codeScanerDriver;
+
+	//
+	//	基础操作
+	//
+
+	public void moveToPBScanPos(ConsumableGroup group) throws AppException {
+		hbotMoveExCtrlService.moveToPBCodeScanPos(group);
+	}
+
+	public void moveToLittleBSCodeScanPos(ConsumableGroup group) throws AppException {
+		hbotMoveExCtrlService.moveToLittleBSCodeScanPos(group);
+	}
+
+	public void moveToLargeBSCodeScanPos(ConsumableGroup group) throws AppException {
+		hbotMoveExCtrlService.moveToLargeBSCodeScanPos(group);
+	}
+
+	public void startCodeScan() throws AppException {
+		codeScanerDriver.pipetteModCodeScannerStartScan();
+	}
+
+	public void stopCodeScan() throws AppException {
+		codeScanerDriver.pipetteModCodeScannerStopScan();
+	}
+
+
+	@PostConstruct
+	void init() {
+		ExtUIPageCfg cfg = extApiPageMgr.newPage(this);
+		cfg.newGroup("位置移动");
+		cfg.addFunction("移动到PB扫码位置", this::moveToPBScanPos);
+		cfg.addFunction("移动到小瓶扫码位置", this::moveToLittleBSCodeScanPos);
+		cfg.addFunction("移动到大瓶扫码位置", this::moveToLargeBSCodeScanPos);
+		cfg.addFunction("扫码", this::startCodeScan);
+		cfg.addFunction("停止扫码", this::stopCodeScan);
+		extApiPageMgr.addPage(cfg);
+	}
+}