update

src/main/java/a8k/app/a8kproj/A8kReactionResultComputer.java

@@ -15,7 +15,7 @@ import a8k.app.a8ktype.type.ReactionResult;
 import a8k.app.a8ktype.opttype.ReactionResultStatus;
 import a8k.app.utils.ProjInfo;
 import a8k.app.utils.ProjInfoUtils;
-import a8k.utils.ZloggerRecorder;
+import a8k.app.utils.ZloggerRecorder;
 import lombok.extern.slf4j.Slf4j;
 import org.slf4j.LoggerFactory;
 import org.springframework.util.Assert;

src/main/java/a8k/app/a8kproj/fakeprojcontext/FakeProjInfoContextFactory.java

@@ -1,212 +0,0 @@
-package a8k.app.a8kproj.fakeprojcontext;
-
-import a8k.app.a8ktype.opttype.A8kOptX;
-import a8k.app.service.data.UtilsProjectColorAllocer;
-import a8k.app.dao.db.type.ProjExtInfoCard;
-import a8k.app.dao.db.type.OptCfg;
-import a8k.app.dao.db.type.ProjectBaseInfo;
-import a8k.app.dao.db.type.a8kidcard.A8kNormalFn;
-import a8k.app.dao.db.type.a8kidcard.A8kOptFnFormula;
-import a8k.app.dao.db.type.a8kidcard.A8kPiecewiseFn;
-import a8k.app.dao.db.type.a8kidcard.A8kResultBuilderFn;
-import a8k.app.dao.db.type.a8kidcard.zenum.A8kFnType;
-import a8k.app.dao.db.type.a8kidcard.zenum.A8kOptType;
-import a8k.app.dao.db.type.a8kidcard.zenum.A8kReactionFlowType;
-import a8k.app.dao.db.type.a8kidcard.zenum.A8kResultUnit;
-import a8k.app.utils.ProjBuildinInfo;
-import a8k.app.utils.ProjInfo;
-import a8k.app.utils.ZDateUtils;
-
-import java.util.ArrayList;
-import java.util.List;
-
-public class FakeProjInfoContextFactory {
-
-	public static class FakeProjInfoContextCfg {
-		public String              projName;
-		public String              lotId;
-		public Integer             projId;
-		public Integer             updateChipVersion;
-		public Integer             subProjNum;
-		public String              projShortName;
-		public Integer             reactionTemperature;
-		public String              color;
-		public A8kReactionFlowType reactionFlowType;
-		public Integer             wBloodSampleVolUl;
-		public Integer             serumSampleVolUl;
-		public Integer             shakeTimes;
-		public Integer             bigBufferSampleUl;
-		public Integer             mixLiquidAspirMixingCnt;
-		public Integer             reactionPlateIncubationTimeMin;
-		public Integer             reactionPlateDropletVolUl;
-		public Boolean             expired;
-
-		public A8kFnType  fnType;
-		public A8kOptType optType;
-
-		public Integer optScanPeakNum;
-		public Integer optPeakNameAssginRefPeakNum;
-
-	}
-
-	;
-
-
-	public static FakeProjInfoContextCfg createCfg(String projShortName, Integer projId, A8kReactionFlowType reactionType, Integer subProjNum) {
-		var val = new FakeProjInfoContextCfg();
-		val.projName                       = String.format("%s%04d", projShortName, projId);
-		val.lotId                          = String.format("%s001234", projShortName, projId);
-		val.projId                         = projId;
-		val.updateChipVersion              = 1;
-		val.subProjNum                     = subProjNum;
-		val.projShortName                  = projShortName;
-		val.reactionTemperature            = 25;
-		val.color                          = UtilsProjectColorAllocer.getProjColor(projId);
-		val.reactionFlowType               = reactionType;
-		val.wBloodSampleVolUl              = 100;
-		val.serumSampleVolUl               = 100;
-		val.shakeTimes                     = 2;
-		val.bigBufferSampleUl              = 200;
-		val.mixLiquidAspirMixingCnt        = 1;
-		val.reactionPlateIncubationTimeMin = 1;
-		val.reactionPlateDropletVolUl      = 50;
-		val.expired                        = false;
-		val.fnType                         = A8kFnType.NormalFn;
-		val.optType                        = A8kOptType.FOPT;
-		if (projId == 1) {
-			val.optScanPeakNum              = 2;
-			val.optPeakNameAssginRefPeakNum = 2;
-		} else {
-			val.optScanPeakNum              = 5;
-			val.optPeakNameAssginRefPeakNum = 5;
-		}
-
-		return val;
-	}
-
-
-	/**
-	 *    !!! WARNING 这个方法中的数值轻易不要修改，后续很多测试代码都是基于这个数值的
-	 */
-	private static A8kOptFnFormula buildTestFnFormula(A8kFnType fntyp) {
-		A8kOptFnFormula formula = new A8kOptFnFormula();
-
-		A8kNormalFn a8kNormalFn = new A8kNormalFn();
-		a8kNormalFn.x        = A8kOptX.R;
-		a8kNormalFn.xMin     = 1.0;
-		a8kNormalFn.xMax     = 100.0;
-		a8kNormalFn.A        = 1.0;
-		a8kNormalFn.B        = 1.0;
-		a8kNormalFn.C        = 1.0;
-		a8kNormalFn.D        = 1.0;
-		a8kNormalFn.lowLimit = 1.0;
-		a8kNormalFn.upLimit  = 100.0;
-
-		A8kPiecewiseFn a8kPiecewiseFn = new A8kPiecewiseFn();
-		a8kPiecewiseFn.judeX     = A8kOptX.R;
-		a8kPiecewiseFn.judeThres = 1.0;
-		a8kPiecewiseFn.lX        = A8kOptX.R;
-		a8kPiecewiseFn.hX        = A8kOptX.R;
-		a8kPiecewiseFn.xMin      = 1.0;
-		a8kPiecewiseFn.xMax      = 100.0;
-		a8kPiecewiseFn.A0        = 1.0;
-		a8kPiecewiseFn.B0        = 1.0;
-		a8kPiecewiseFn.C0        = 1.0;
-		a8kPiecewiseFn.D0        = 1.0;
-		a8kPiecewiseFn.A1        = 1.0;
-		a8kPiecewiseFn.B1        = 1.0;
-		a8kPiecewiseFn.C1        = 1.0;
-		a8kPiecewiseFn.D1        = 1.0;
-		a8kPiecewiseFn.lowLimit  = 1.0;
-		a8kPiecewiseFn.upLimit   = 100.0;
-
-		A8kResultBuilderFn a8kResultBuilderFn = new A8kResultBuilderFn(); //结果生成函数
-
-		a8kResultBuilderFn.ret1Unit   = A8kResultUnit.pgPml;
-		a8kResultBuilderFn.ret2Unit   = A8kResultUnit.ngPml;
-		a8kResultBuilderFn.ret3Unit   = A8kResultUnit.ugPml;
-		a8kResultBuilderFn.toUint2FnA = 2.0;
-		a8kResultBuilderFn.toUint2FnB = 0.1;
-		a8kResultBuilderFn.toUint3FnA = 3.0;
-		a8kResultBuilderFn.toUint3FnB = 0.1;
-
-
-		formula.fnType = fntyp;
-		//普通函数
-		if (A8kFnType.NormalFn.equals(fntyp)) {
-			formula.serumNorFn = a8kNormalFn.clone(); // 血清
-			formula.bloodNorFn = a8kNormalFn.clone(); // 血浆
-		}
-		// 分段函数系数
-		if (A8kFnType.PiecewiseFn.equals(fntyp)) {
-			formula.serumPiecewiseFn = a8kPiecewiseFn.clone(); // 血清
-			formula.bloodPiecewiseFn = a8kPiecewiseFn.clone(); // 血浆
-		}
-		//结果
-		formula.resultBuilderFn = a8kResultBuilderFn.clone(); //结果生成函数
-		return formula;
-	}
-
-
-	static public ProjInfo build(FakeProjInfoContextCfg cfg) {
-
-		//
-		//	ProjectInfo
-		//
-		ProjectBaseInfo projInfo = new ProjectBaseInfo();
-		projInfo.projId                         = cfg.projId;
-		projInfo.projName                       = cfg.projName;
-		projInfo.projShortName                  = cfg.projShortName;
-		projInfo.subProjNum                     = cfg.subProjNum;
-		projInfo.reactionTemperature            = cfg.reactionTemperature;
-		projInfo.color                          = cfg.color;
-		projInfo.reactionFlowType               = cfg.reactionFlowType;
-		projInfo.wBloodSampleVolUl              = cfg.wBloodSampleVolUl;
-		projInfo.serumSampleVolUl               = cfg.serumSampleVolUl;
-		projInfo.shakeTimes                     = cfg.shakeTimes;
-		projInfo.bigBufferSampleUl              = cfg.bigBufferSampleUl;
-		projInfo.reactionPlateIncubationTimeMin = cfg.reactionPlateIncubationTimeMin;
-		projInfo.reactionPlateDropletVolUl      = cfg.reactionPlateDropletVolUl;
-
-		//
-		//	ProjInfoCard
-		//
-		ProjExtInfoCard projExtInfoCard = new ProjExtInfoCard();
-		projExtInfoCard.projName = cfg.projName;
-		projExtInfoCard.lotId    = cfg.lotId;
-		if (!cfg.expired) {
-			projExtInfoCard.expiryDate = ZDateUtils.nextDay();
-		} else {
-			projExtInfoCard.expiryDate = ZDateUtils.theDayBeforeYesterday();
-		}
-		projExtInfoCard.projId            = cfg.projId;
-		projExtInfoCard.updateChipVersion = cfg.updateChipVersion;
-		projExtInfoCard.subProjNum        = cfg.subProjNum;
-
-		for (int i = 0; i < cfg.subProjNum; i++) {
-			var fnFormula = buildTestFnFormula(cfg.fnType);
-			projExtInfoCard.projFnFormuals.add(fnFormula);
-		}
-
-		//
-		//	ProjOptInfo
-		//
-		List<OptCfg> optCfgList = new ArrayList<>();
-		for (int i = 0; i < cfg.subProjNum; i++) {
-			OptCfg optCfg = new OptCfg();
-			optCfg.projId           = cfg.projId;
-			optCfg.projName         = cfg.projName;
-			optCfg.subProjIndex     = i;
-			optCfg.subProjName      = String.format("SUBPROJ_%d", i);
-			optCfg.subProjShortName = String.format("SP%d", i);
-			optCfg.optType          = cfg.optType;
-			optCfg.optScanRange     = 250;
-			optCfg.optScanPeakNum   = cfg.optScanPeakNum;
-			optCfg.peakNameRefNum   = cfg.optPeakNameAssginRefPeakNum;
-			optCfgList.add(optCfg);
-		}
-
-		return new ProjInfo(new ProjBuildinInfo(projInfo, optCfgList), projExtInfoCard);
-	}
-
-}

src/main/java/a8k/app/a8kproj/optanalyzer/A8kOptXGetter.java

@@ -10,7 +10,6 @@ import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 
 public class A8kOptXGetter {
-	private static final Logger log = LoggerFactory.getLogger(A8kOptXGetter.class);
 
 	static class Context {
 		OptCfg              optcfg;

src/main/java/a8k/config/A8kCanBusConnectionConfig.java → src/main/java/a8k/app/config/A8kCanBusConnectionConfig.java

@@ -1,7 +1,6 @@
-package a8k.config;
+package a8k.app.config;
 
 import a8k.app.hardware.basedriver.A8kCanBusConnection;
-import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.context.annotation.Bean;
 import org.springframework.context.annotation.Configuration;

src/main/java/a8k/config/CorsConfig.java → src/main/java/a8k/app/config/CorsConfig.java

@@ -1,4 +1,4 @@
-package a8k.config;
+package a8k.app.config;
 
 import org.springframework.context.annotation.Configuration;
 import org.springframework.web.servlet.config.annotation.CorsRegistry;

src/main/java/a8k/config/SpringDocConfig.java → src/main/java/a8k/app/config/SpringDocConfig.java

@@ -1,4 +1,4 @@
-package a8k.config;
+package a8k.app.config;
 
 import io.swagger.v3.oas.models.OpenAPI;
 import io.swagger.v3.oas.models.info.Info;

src/main/java/a8k/config/WebSocketConfiguration.java → src/main/java/a8k/app/config/WebSocketConfiguration.java

@@ -1,4 +1,4 @@
-package a8k.config;
+package a8k.app.config;
 
 import org.springframework.context.annotation.Bean;
 import org.springframework.context.annotation.Configuration;

src/main/java/a8k/app/hardware/basedriver/A8kCanBusService.java

@@ -121,6 +121,9 @@ public class A8kCanBusService {
 			Boolean firstReadIO  = priGetIOState(ioid);
 			Boolean secondReadIO = priGetIOState(ioid);
 			if (firstReadIO == secondReadIO) {
+				if(ioid.mirror){
+					return !firstReadIO;
+				}
 				return firstReadIO;
 			} else {
 				log.warn("getIOState {} not match, retry", ioid);

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

@@ -29,6 +29,23 @@ public class MiniServoDriver {
 		canBus.callcmd(id.mid, CmdId.mini_servo_enable, enable);
 	}
 
+	public void miniServoForceEnable(MiniServoMId id, int enable) {
+		try {
+			miniServoEnable(id, enable);
+		} catch (AppException e) {
+			logger.error("miniServoForceEnable error", e);
+		}
+	}
+
+	public Boolean miniServoPing(MiniServoMId id) {
+		try {
+			miniServoReadPos(id);
+		} catch (AppException e) {
+			return false;
+		}
+		return true;
+	}
+
 	public int miniServoReadPos(MiniServoMId id) throws AppException {
 		var packet = canBus.callcmd(id.mid, CmdId.mini_servo_read_pos);
 		return packet.getContentI32(0);
@@ -98,7 +115,6 @@ public class MiniServoDriver {
 	}
 
 
-
 	public void miniServoWaitIsNotMove(MiniServoMId id, int acitionOvertime) throws AppException {
 		long startedAt = System.currentTimeMillis();
 		do {

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

@@ -105,7 +105,7 @@ public class StepMotorCtrlDriver {
 	public Integer stepMotorReadPosByMoveToZeroBlock(StepMotorMId id, Integer actionOvertime) throws AppException {
 		stepMotorEnable(id, 1);
 		stepMotorEasyMoveToZeroBlock(id, actionOvertime);
-		Integer nowpos = stepMotorReadPos(id);
+		Integer nowpos     = stepMotorReadPos(id);
 		Integer measurepos = -canBus.moduleGetReg(id.mid, RegIndex.kreg_step_motor_dpos) + nowpos;
 		stepMotorEnable(id, 0);
 		return measurepos;
@@ -143,6 +143,10 @@ public class StepMotorCtrlDriver {
 		canBus.waitForMod(id.mid, actionOvertime);
 	}
 
+	public Boolean isHasMoveToZero(StepMotorMId id) throws AppException {
+		return getReg(id, StepMotorRegIndex.kreg_step_motor_has_move_zero) != 0;
+	}
+
 	public void setReg(StepMotorMId id, StepMotorRegIndex regIndex, Integer val) throws AppException {
 		canBus.moduleSetReg(id.mid, regIndex.regIndex, val);
 	}

src/main/java/a8k/app/hardware/driver/type/StepMotorRegIndex.java

@@ -13,6 +13,7 @@ public enum StepMotorRegIndex {
 	kreg_step_motor_pos(RegIndex.kreg_step_motor_pos), // 机器人x坐标
 	kreg_step_motor_is_enable(RegIndex.kreg_step_motor_is_enable), // 是否使能
 	kreg_step_motor_dpos(RegIndex.kreg_step_motor_dpos), // 执行完上一条指令后的相对位移
+	kreg_step_motor_has_move_zero(RegIndex.kreg_step_motor_has_move_zero), // 是否已经移动到零点
 //	kreg_step_motor_shift(RegIndex.kreg_step_motor_shift), // x偏移
 	kreg_step_motor_shaft(RegIndex.kreg_step_motor_shaft), // x轴是否反转
 	kreg_step_motor_one_circle_pulse(RegIndex.kreg_step_motor_one_circle_pulse), // x轴一圈脉冲数

src/main/java/a8k/app/hardware/initializer/A8kModParamInitializer.java

@@ -8,6 +8,7 @@ import a8k.app.hardware.driver.StepMotorCtrlDriver;
 import a8k.app.hardware.driver.type.MiniServoMId;
 import a8k.app.hardware.driver.type.PipetteRegIndex;
 import a8k.app.hardware.driver.type.StepMotorMId;
+import a8k.app.hardware.driver.type.StepMotorRegIndex;
 import a8k.app.service.bases.AppEventBusService;
 import a8k.app.a8ktype.appevent.A8kCanBusOnConnectEvent;
 import a8k.app.a8ktype.appevent.AppEvent;
@@ -58,6 +59,18 @@ public class A8kModParamInitializer {
 		 *		2.如果电机没有配备编码，则每次调用moveQuickToZeroPoint，都会进行一次位置检查
 		 */
 
+		stepMotorCtrlDriver.setReg(StepMotorMId.ShakeModClampingM, StepMotorRegIndex.kreg_step_motor_look_zero_edge_speed, 50);//
+		stepMotorCtrlDriver.setReg(StepMotorMId.ShakeModClampingM, StepMotorRegIndex.kreg_step_motor_run_to_zero_speed, 50);//
+
+
+		stepMotorCtrlDriver.setReg(StepMotorMId.PlatesBoxYM, StepMotorRegIndex.kreg_step_motor_one_circle_pulse, 20);//板夹仓前后移动
+		stepMotorCtrlDriver.setReg(StepMotorMId.PlatesBoxPusherM, StepMotorRegIndex.kreg_step_motor_one_circle_pulse, 20);//板夹仓推板
+		stepMotorCtrlDriver.setReg(StepMotorMId.ShakeModGripperZM, StepMotorRegIndex.kreg_step_motor_one_circle_pulse, 200);//摇匀模组Z轴
+		stepMotorCtrlDriver.setReg(StepMotorMId.FeedingModXM, StepMotorRegIndex.kreg_step_motor_one_circle_pulse, 40);//进料模组X轴
+		stepMotorCtrlDriver.setReg(StepMotorMId.IncubatorRotateCtrlM, StepMotorRegIndex.kreg_step_motor_one_circle_pulse, 400);//转盘
+		pipetteCtrlDriver.setReg(PipetteRegIndex.kreg_pipette_zm_one_circle_pulse, 20);
+
+
 		//光学电机步进单位设置,默认是 1574803 ，调大拉伸波形，调小拉伸波形
 		//		canBus.moduleSetReg(MId.OptModScannerM, RegIndex.kreg_step_motor_one_circle_pulse, 1550000);
 		canBus.moduleSetReg(MId.OptModScannerM, RegIndex.kreg_step_motor_one_circle_pulse, 1590000);

src/main/java/a8k/app/hardware/type/a8kcanprotocol/IOId.java

@@ -1,26 +1,26 @@
 package a8k.app.hardware.type.a8kcanprotocol;
 
 public enum IOId {
-	TubeHeightPPS(ModuleType.kboard, MId.FeedingModBoard, 0), //高低试管检测IO
-	THChOuterPPS(ModuleType.kboard, MId.FeedingModBoard, 1),//试管架转移通道有无检测 外
-	THChInterPPS(ModuleType.kboard, MId.FeedingModBoard, 2),//试管架转移通道有无检测 内
-	OutfeedPPS(ModuleType.kboard, MId.FeedingModBoard, 3),//试管出料位置 试管架有无检测
-	TubeExistPPS(ModuleType.kboard, MId.FeedingModBoard, 4),//试管有无光电
-	InfeedPPS(ModuleType.kboard, MId.FeedingModBoard, 5),//试管架入料位置 试管架有无检测
+	TubeHeightPPS(ModuleType.kboard, MId.FeedingModBoard, 0, false), //高低试管检测IO
+	THChOuterPPS(ModuleType.kboard, MId.FeedingModBoard, 1, false),//试管架转移通道有无检测 外
+	THChInterPPS(ModuleType.kboard, MId.FeedingModBoard, 2, false),//试管架转移通道有无检测 内
+	OutfeedPPS(ModuleType.kboard, MId.FeedingModBoard, 3, false),//试管出料位置 试管架有无检测
+	TubeExistPPS(ModuleType.kboard, MId.FeedingModBoard, 4, false),//试管有无光电
+	InfeedPPS(ModuleType.kboard, MId.FeedingModBoard, 5, false),//试管架入料位置 试管架有无检测
 
-	RecycleBinOverflowPPS(ModuleType.kboard, MId.PlatesBoxTCMBoard, 2),//废料桶满溢检测
-	RecycleBinOverflowPPSPowerCtrl(ModuleType.kboard, MId.PlatesBoxTCMBoard, 0),//废料桶光栅电源
+	RecycleBinOverflowPPS(ModuleType.kboard, MId.PlatesBoxTCMBoard, 2, false),//废料桶满溢检测
+	RecycleBinOverflowPPSPowerCtrl(ModuleType.kboard, MId.PlatesBoxTCMBoard, 0, false),//废料桶光栅电源
 
-	PlateBoxCoverClosurePPS(ModuleType.kboard, MId.PlatesBoxBoard, 0),//板夹仓舱盖闭合检测
-	PlateBoxPlateStuckPPS(ModuleType.kboard, MId.PlatesBoxBoard, 1),//板夹仓卡板检测
+	PlateBoxCoverClosurePPS(ModuleType.kboard, MId.PlatesBoxBoard, 0, true),//板夹仓舱盖闭合检测
+	PlateBoxPlateStuckPPS(ModuleType.kboard, MId.PlatesBoxBoard, 1, false),//板夹仓卡板检测
 
 	//转盘逻辑相关光电
 	//钩板电机，零点光电，终点光电
-	PullerMZeroPPS(ModuleType.ktmc_step_motor, MId.OptModPullM, 0),//
-	PullerMEndPPS(ModuleType.ktmc_step_motor, MId.OptModPullM, 1),//
+	PullerMZeroPPS(ModuleType.ktmc_step_motor, MId.OptModPullM, 0, false),//
+	PullerMEndPPS(ModuleType.ktmc_step_motor, MId.OptModPullM, 1, false),//
 	//推板电机，零点光电，终点光电
-	PusherMZeroPPS(ModuleType.ktmc_step_motor, MId.PlatesBoxPusherM, 0),//
-	PusherMEndPPS(ModuleType.ktmc_step_motor, MId.PlatesBoxPusherM, 1),//
+	PusherMZeroPPS(ModuleType.ktmc_step_motor, MId.PlatesBoxPusherM, 0, false),//
+	PusherMEndPPS(ModuleType.ktmc_step_motor, MId.PlatesBoxPusherM, 1, false),//
 
 	;
 
@@ -28,11 +28,15 @@ public enum IOId {
 	final public ModuleType mtype;
 	final public MId        mid;
 	final public int        ioIndex;
+	final public boolean    mirror;
 
-	IOId(ModuleType mtype, MId mid, int ioIndex) {
+	IOId(ModuleType mtype, MId mid, int ioIndex, boolean mirror) {
 		this.mtype   = mtype;
 		this.mid     = mid;
 		this.ioIndex = ioIndex;
+		this.mirror  = mirror;
+
 	}
 
+
 }

src/main/java/a8k/app/hardware/type/regindex/RegIndex.java

@@ -39,18 +39,18 @@ public enum RegIndex {
 	kreg_pipette_capactitance_val(4001), // 移液枪电容值
 	kreg_pipette_tip_state(4002, false), // 移动液枪tip状态
 
-//	kreg_pipette_limit_ul(4051), //
-//	kreg_pipette_pump_acc(4052), //
-//	kreg_pipette_pump_dec(4053), //
-//	kreg_pipette_pump_vstart(4054), //
-//	kreg_pipette_pump_vstop(4055), //
-//	kreg_pipette_pump_vmax(4056), //
-//	kreg_pipette_aspirate_distribut_pump_vel(4057), //
-//	kreg_pipette_lld_pump_vel(4058), //
-//	kreg_pipette_lld_motor_vel_rpm(4059), //
-//	kreg_pipette_lld_detect_period_ms(4060), //
-//	kreg_pipette_lld_prepare_pos(4061), //
-//	kreg_pipette_lld_prepare_distribut_pos(4062), //
+	//	kreg_pipette_limit_ul(4051), //
+	//	kreg_pipette_pump_acc(4052), //
+	//	kreg_pipette_pump_dec(4053), //
+	//	kreg_pipette_pump_vstart(4054), //
+	//	kreg_pipette_pump_vstop(4055), //
+	//	kreg_pipette_pump_vmax(4056), //
+	//	kreg_pipette_aspirate_distribut_pump_vel(4057), //
+	//	kreg_pipette_lld_pump_vel(4058), //
+	//	kreg_pipette_lld_motor_vel_rpm(4059), //
+	//	kreg_pipette_lld_detect_period_ms(4060), //
+	//	kreg_pipette_lld_prepare_pos(4061), //
+	//	kreg_pipette_lld_prepare_distribut_pos(4062), //
 
 	kreg_pipette_zm_pos(4101),
 	kreg_pipette_zm_is_enable(4102),
@@ -151,6 +151,7 @@ public enum RegIndex {
 	kreg_step_motor_pos(10101), // 机器人x坐标
 	kreg_step_motor_is_enable(10102), // 是否使能
 	kreg_step_motor_dpos(10103), // 执行完上一条指令后的相对位移
+	kreg_step_motor_has_move_zero(10104),  // 是否回零
 	kreg_step_motor_shift(10150), // x偏移
 	kreg_step_motor_shaft(10151), // x轴是否反转
 	kreg_step_motor_one_circle_pulse(10152), // x轴一圈脉冲数

src/main/java/a8k/app/service/background/TemperatureCtrlService.java

@@ -7,7 +7,7 @@ import a8k.app.a8ktype.exception.AppException;
 import a8k.app.service.bases.AppEventBusService;
 import a8k.app.service.setting.AppSettingsMgrService;
 import a8k.app.hardware.driver.TemperatureControlDriver;
-import a8k.teststate.VirtualDevice;
+import a8k.app.teststate.VirtualDevice;
 import jakarta.annotation.PostConstruct;
 import jakarta.annotation.Resource;
 import lombok.extern.slf4j.Slf4j;

src/main/java/a8k/app/service/data/ProjIdCardInfoMgrService.java

@@ -18,7 +18,7 @@ import a8k.app.dao.db.type.ProjExtInfoCard;
 import a8k.app.a8ktype.db.CommonPage;
 import a8k.app.utils.ProjBuildinInfo;
 import a8k.app.utils.ZAppChecker;
-import a8k.utils.DoubleUtils;
+import a8k.app.utils.DoubleUtils;
 import jakarta.annotation.Resource;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;

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

@@ -2,17 +2,16 @@ package a8k.app.service.lowerctrl;
 
 import a8k.app.hardware.driver.CodeScanerDriver;
 import a8k.app.service.param.hbotpos.Hbot2DCodeScanParamMgr;
-import a8k.teststate.VirtualDevice;
+import a8k.app.teststate.VirtualDevice;
 import a8k.app.a8ktype.type.ConsumableOneChRawResult;
 import a8k.app.a8ktype.device.Pos2d;
 import a8k.app.a8ktype.exception.AppException;
-import a8k.utils.DoAction;
+import a8k.app.utils.DoAction;
 import jakarta.annotation.Resource;
 import org.springframework.stereotype.Component;
 
 import java.util.ArrayList;
 import java.util.List;
-import java.util.Objects;
 
 @Component
 public class ConsumablesScanCtrlService {

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

@@ -16,7 +16,7 @@ import a8k.app.hardware.driver.type.StepMotorMId;
 
 import a8k.app.service.background.BackgroudProcessCtrlService;
 import a8k.app.service.bases.AppEventBusService;
-import a8k.teststate.VirtualDevice;
+import a8k.app.teststate.VirtualDevice;
 import a8k.app.a8ktype.others.CheckPointType;
 import a8k.app.a8ktype.others.checkpoint.CheckResult;
 import a8k.app.a8ktype.others.checkpoint.Checkpoint;
@@ -74,7 +74,7 @@ public class DeviceInitCtrlService {
 	@Resource
 	HbotMoveCtrlService hbotMoveCtrlService;
 
-	Integer          actionOvertime = 10000;
+	Integer          actionOvertime = 20000;
 	List<Checkpoint> checkPoints    = new ArrayList<>();
 
 

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

@@ -104,6 +104,7 @@ public class TubeFeedingCtrlService {
 		logger.info("弹出试管架");
 		moveTubeRackToExitPos();
 		try {
+			stepMotorCtrlDriver.stepMotorEasyMoveByBlock(StepMotorMId.FeedingModOutfeedM, 1000, 1000);
 			stepMotorCtrlDriver.stepMotorEasyRotate(StepMotorMId.FeedingModOutfeedM, 1);
 			OS.hsleep(2500);
 			for (int i = 0; i < outfeedOvertime / 100; i++) {

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

@@ -40,9 +40,9 @@ public class TubeFeedingExCtrlService {
 	 * @throws AppException 硬件异常
 	 */
 	public void moveTubeRackTo(Integer pos, TargetPosMeasureDirection moveDiretion, Boolean moveToZero) throws AppException {
-		if (!stepMotorCtrlDriver.stepMotorReadIoState(StepMotorMId.ShakeModGripperZM, 0)) {
-			throw new AppException(A8kEcode.LOW_EXT_ERROR_MOTOR_AT_WRONG_POS);
-		}
+//		if (!stepMotorCtrlDriver.stepMotorReadIoState(StepMotorMId.ShakeModGripperZM, 0)) {
+//			throw new AppException(A8kEcode.LOW_EXT_ERROR_MOTOR_AT_WRONG_POS);
+//		}
 		//打开扫码夹具
 		scanClampModRelease();
 

src/main/java/a8k/app/service/mainctrl/mainflowctrl/action/AC10ErrorReactionPlateProcesser.java

@@ -6,7 +6,7 @@ import a8k.app.service.statemgr.IncubationPlateStateMgrService;
 import a8k.app.service.statemgr.OptScanModuleStateMgrService;
 import a8k.app.a8ktype.state.IncubationSubTank;
 import a8k.app.service.lowerctrl.OptScanModuleCtrlService;
-import a8k.teststate.VirtualDevice;
+import a8k.app.teststate.VirtualDevice;
 import a8k.app.a8ktype.error.AppError;
 import a8k.app.a8ktype.exception.AppException;
 import a8k.app.utils.ZList;

src/main/java/a8k/app/service/mainctrl/mainflowctrl/action/AC20ProcessCompletedPlate.java

@@ -10,7 +10,7 @@ import a8k.app.a8ktype.state.IncubationSubTank;
 import a8k.app.a8ktype.state.ProjectTaskContext;
 import a8k.app.service.lowerctrl.OptScanModuleCtrlService;
 import a8k.app.utils.ZList;
-import a8k.teststate.VirtualDevice;
+import a8k.app.teststate.VirtualDevice;
 import a8k.app.a8ktype.error.AppError;
 import a8k.app.a8ktype.exception.AppException;
 import a8k.app.utils.ProjInfoUtils;

src/main/java/a8k/app/service/mainctrl/mainflowctrl/action/AC20ScanReactionPlate.java

@@ -13,7 +13,7 @@ import a8k.app.service.statemgr.ProjectContextMgrService;
 import a8k.app.a8ktype.state.ProjectTaskContext;
 import a8k.app.service.lowerctrl.OptScanModuleCtrlService;
 import a8k.app.dao.db.type.a8kidcard.zenum.A8kOptType;
-import a8k.teststate.VirtualDevice;
+import a8k.app.teststate.VirtualDevice;
 import a8k.app.factory.FakeReactionResultFactory;
 import a8k.app.a8ktype.type.ReactionResult;
 import a8k.app.a8ktype.error.AppError;

src/main/java/a8k/app/service/mainctrl/mainflowctrl/action/AC30EjectTubeHolder.java

@@ -5,7 +5,7 @@ import a8k.app.service.mainctrl.mainflowctrl.base.MainFlowProcesser;
 import a8k.app.service.statemgr.GStateMgrService;
 import a8k.app.service.statemgr.TubeStateMgrService;
 import a8k.app.service.lowerctrl.TubeFeedingCtrlService;
-import a8k.teststate.VirtualDevice;
+import a8k.app.teststate.VirtualDevice;
 import a8k.app.a8ktype.error.AppError;
 import a8k.app.a8ktype.exception.AppException;
 import a8k.app.utils.ZList;

src/main/java/a8k/app/service/mainctrl/mainflowctrl/action/AC30ScanTubeHolderTask.java

@@ -17,7 +17,7 @@ import a8k.app.a8ktype.state.enumtype.TubeState;
 import a8k.app.service.lowerctrl.TubeFeedingCtrlService;
 import a8k.app.service.bases.AppEventBusService;
 import a8k.app.a8ktype.appevent.AppWarningNotifyEvent;
-import a8k.teststate.VirtualDevice;
+import a8k.app.teststate.VirtualDevice;
 import a8k.app.a8ktype.type.TubeHolderScanResult;
 import a8k.app.a8ktype.error.AETubeError;
 import a8k.app.a8ktype.error.AppError;

src/main/java/a8k/app/service/mainctrl/mainflowctrl/action/AC30SwitchToNextTubeTake.java

@@ -4,7 +4,7 @@ import a8k.app.service.mainctrl.mainflowctrl.base.A8kActionTask;
 import a8k.app.service.mainctrl.mainflowctrl.base.MainFlowProcesser;
 import a8k.app.service.statemgr.TubeStateMgrService;
 import a8k.app.service.lowerctrl.TubeFeedingCtrlService;
-import a8k.teststate.VirtualDevice;
+import a8k.app.teststate.VirtualDevice;
 import a8k.app.a8ktype.error.AppError;
 import a8k.app.a8ktype.exception.AppException;
 import a8k.app.utils.ZList;

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

@@ -16,11 +16,11 @@ import a8k.app.service.mainctrl.erroranalyzer.ErrorProcessor;
 import a8k.app.dao.db.type.a8kidcard.zenum.A8kReactionFlowType;
 import a8k.app.utils.ActionTaskPool;
 import a8k.app.utils.ZList;
-import a8k.teststate.VirtualDevice;
+import a8k.app.teststate.VirtualDevice;
 import a8k.app.a8ktype.error.AppError;
 import a8k.app.a8ktype.exception.AppException;
 import a8k.app.a8ktype.exception.ZAppInterruptException;
-import a8k.utils.DoAction;
+import a8k.app.utils.DoAction;
 import jakarta.annotation.Resource;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;

src/main/java/a8k/app/service/mainctrl/mainflowctrl/processer/MainFlowStateChangeProcesser.java

@@ -1,6 +1,5 @@
 package a8k.app.service.mainctrl.mainflowctrl.processer;
 
-import a8k.app.service.mainctrl.TubeHolderSettingMgrService;
 import a8k.app.service.mainctrl.mainflowctrl.base.IMainFlowStateChangeProcesser;
 import a8k.app.service.mainctrl.mainflowctrl.base.MainFlowProcesser;
 import a8k.app.service.statemgr.*;
@@ -9,7 +8,7 @@ import a8k.app.a8ktype.state.enumtype.IncubationSubTankState;
 import a8k.app.service.lowerctrl.HbotMoveExCtrlService;
 import a8k.app.service.lowerctrl.OptScanModuleCtrlService;
 import a8k.app.service.lowerctrl.TubeFeedingCtrlService;
-import a8k.teststate.VirtualDevice;
+import a8k.app.teststate.VirtualDevice;
 import a8k.app.a8ktype.exception.AppException;
 import jakarta.annotation.Resource;
 import lombok.extern.slf4j.Slf4j;

src/main/java/a8k/app/service/setting/AppSettingsMgrService.java

@@ -9,7 +9,7 @@ import a8k.app.dao.db.type.LISSetting;
 import a8k.app.dao.db.type.appsetting.AppSettingName;
 import a8k.app.dao.db.type.appsetting.settingenum.*;
 import a8k.app.hardware.type.a8kcanprotocol.A8kEcode;
-import a8k.utils.IPAddressValidator;
+import a8k.app.utils.IPAddressValidator;
 import jakarta.annotation.PostConstruct;
 import jakarta.annotation.Resource;
 import org.slf4j.Logger;

src/main/java/a8k/teststate/TestStateMgrService.java → src/main/java/a8k/app/teststate/TestStateMgrService.java

@@ -1,7 +1,6 @@
-package a8k.teststate;
+package a8k.app.teststate;
 
 
-import a8k.app.a8ktype.type.ConsumableOneChRawResult;
 import a8k.app.a8ktype.type.TubeHolderScanResult;
 import a8k.app.service.lowerctrl.ConsumablesScanCtrlService;
 import a8k.app.service.lowerctrl.TubeFeedingCtrlService;

src/main/java/a8k/teststate/VirtualDevice.java → src/main/java/a8k/app/teststate/VirtualDevice.java

@@ -1,17 +1,11 @@
-package a8k.teststate;
+package a8k.app.teststate;
 
 import a8k.OS;
 import a8k.app.a8ktype.DeviceRunMode;
-import a8k.app.dao.db.type.ProjExtInfoCard;
-import a8k.app.a8ktype.type.ConsumableOneChRawResult;
-import a8k.app.a8ktype.type.TubeHolderScanResult;
 import a8k.app.service.bases.UIMessage;
 import a8k.app.service.statemgr.GStateMgrService;
 import jakarta.annotation.Resource;
-import lombok.Getter;
-import lombok.Setter;
 import lombok.extern.slf4j.Slf4j;
-import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Component;
 
 @Slf4j

src/main/java/a8k/utils/DoAction.java → src/main/java/a8k/app/utils/DoAction.java

@@ -1,10 +1,8 @@
-package a8k.utils;
+package a8k.app.utils;
 
 import a8k.SpringBootBeanUtil;
 import a8k.app.a8ktype.exception.AppException;
-import a8k.app.service.bases.UIMessage;
-import a8k.teststate.VirtualDevice;
-import jakarta.annotation.Resource;
+import a8k.app.teststate.VirtualDevice;
 import lombok.extern.slf4j.Slf4j;
 
 @Slf4j

src/main/java/a8k/utils/DoubleUtils.java → src/main/java/a8k/app/utils/DoubleUtils.java

@@ -1,4 +1,4 @@
-package a8k.utils;
+package a8k.app.utils;
 
 public class DoubleUtils {
 	public static boolean equals(double a, double b) {

src/main/java/a8k/utils/IPAddressValidator.java → src/main/java/a8k/app/utils/IPAddressValidator.java

@@ -1,4 +1,4 @@
-package a8k.utils;
+package a8k.app.utils;
 
 import java.util.regex.Pattern;
 

src/main/java/a8k/utils/ZloggerRecorder.java → src/main/java/a8k/app/utils/ZloggerRecorder.java

@@ -1,4 +1,4 @@
-package a8k.utils;
+package a8k.app.utils;
 
 import org.slf4j.Logger;
 

src/main/java/a8k/extui/page/debug/P02ConsumablesMgrDebugPage.java

@@ -1,15 +1,12 @@
 package a8k.extui.page.debug;
 
-import a8k.app.a8ktype.DeviceRunMode;
 import a8k.app.a8ktype.device.ConsumableGroup;
 import a8k.app.a8ktype.device.TipGroup;
 import a8k.app.a8ktype.device.consumables.LarBottleGroup;
 import a8k.app.a8ktype.device.consumables.LittBottleGroup;
 import a8k.app.a8ktype.device.consumables.ReactionPlateGroup;
-import a8k.app.a8ktype.device.consumables.Tips;
 import a8k.app.a8ktype.error.ConsumablesScanReportErrorType;
 import a8k.app.a8ktype.exception.AppException;
-import a8k.app.a8ktype.type.ConsumablesOneChannelScanResultPacket;
 import a8k.app.a8ktype.type.ConsumablesScanReport;
 import a8k.app.a8ktype.type.ConsumablesScanResultPacket;
 import a8k.app.dao.db.type.ProjExtInfoCard;
@@ -21,7 +18,6 @@ import a8k.app.service.statemgr.ConsumablesMgrService;
 import a8k.app.service.statemgr.GStateMgrService;
 import a8k.extui.mgr.ExtApiPageMgr;
 import a8k.extui.type.ExtApiStatu;
-import a8k.teststate.TestStateMgrService;
 import jakarta.annotation.PostConstruct;
 import jakarta.annotation.Resource;
 import org.springframework.stereotype.Component;

src/main/java/a8k/extui/page/debug/P02TubeSettingDebugPage.java

@@ -1,17 +1,13 @@
 package a8k.extui.page.debug;
 
-import a8k.app.a8ktype.device.A8kTubeHolderType;
 import a8k.app.a8ktype.device.BloodType;
 import a8k.app.a8ktype.exception.AppException;
-import a8k.app.a8ktype.type.TubeHolderScanResult;
-import a8k.app.a8ktype.type.TubesScanResult;
 import a8k.app.a8ktype.ui.TubeHolderSetting;
 import a8k.app.a8ktype.ui.TubeSetting;
 import a8k.app.service.mainctrl.TubeHolderSettingMgrService;
 import a8k.app.service.statemgr.GStateMgrService;
 import a8k.extui.mgr.ExtApiPageMgr;
 import a8k.extui.type.ExtApiStatu;
-import a8k.teststate.TestStateMgrService;
 import jakarta.annotation.PostConstruct;
 import jakarta.annotation.Resource;
 import lombok.extern.slf4j.Slf4j;

src/main/java/a8k/extui/page/extapp/UsrOperationSimulation.java

@@ -1,22 +1,12 @@
 package a8k.extui.page.extapp;
 
-import a8k.app.a8ktype.DeviceRunMode;
 import a8k.app.a8ktype.device.A8kTubeHolderType;
 import a8k.app.a8ktype.device.ConsumableGroup;
-import a8k.app.a8ktype.device.TipGroup;
-import a8k.app.a8ktype.device.consumables.LarBottleGroup;
-import a8k.app.a8ktype.device.consumables.LittBottleGroup;
-import a8k.app.a8ktype.device.consumables.ReactionPlateGroup;
-import a8k.app.a8ktype.device.consumables.Tips;
-import a8k.app.a8ktype.error.ConsumablesScanReportErrorType;
 import a8k.app.a8ktype.exception.AppException;
-import a8k.app.a8ktype.type.ConsumablesScanReport;
-import a8k.app.a8ktype.type.ConsumablesScanResultPacket;
 import a8k.app.a8ktype.type.TubeHolderScanResult;
 import a8k.app.a8ktype.type.TubesScanResult;
 import a8k.app.dao.db.type.ProjExtInfoCard;
 import a8k.app.factory.ProjExtInfoCardFactory;
-import a8k.app.hardware.type.a8kcanprotocol.A8kEcode;
 import a8k.app.service.data.ProjIdCardInfoMgrService;
 import a8k.app.service.data.ProjInfoMgrService;
 import a8k.app.service.lowerctrl.ProjIDCardCtrlAndMonitorService;
@@ -24,8 +14,7 @@ import a8k.app.service.mainctrl.AppConsumablesScanService;
 import a8k.app.service.statemgr.ConsumablesMgrService;
 import a8k.app.service.statemgr.GStateMgrService;
 import a8k.extui.mgr.ExtApiPageMgr;
-import a8k.extui.type.ExtApiStatu;
-import a8k.teststate.TestStateMgrService;
+import a8k.app.teststate.TestStateMgrService;
 import jakarta.annotation.PostConstruct;
 import jakarta.annotation.Resource;
 import org.springframework.stereotype.Component;

src/main/java/a8k/extui/page/extapp/tools/MoterMoveUtilsPage.java

@@ -0,0 +1,48 @@
+package a8k.extui.page.extapp.tools;
+
+import a8k.app.a8ktype.exception.AppException;
+import a8k.app.hardware.driver.MiniServoDriver;
+import a8k.app.hardware.driver.StepMotorCtrlDriver;
+import a8k.app.hardware.driver.type.StepMotorMId;
+import a8k.extui.mgr.ExtApiPageMgr;
+import jakarta.annotation.PostConstruct;
+import jakarta.annotation.Resource;
+import org.springframework.stereotype.Component;
+
+@Component
+public class MoterMoveUtilsPage {
+	@Resource
+	ExtApiPageMgr extApiPageMgr;
+
+	static final Integer overtime = 10000;
+
+
+	@Resource
+	StepMotorCtrlDriver stepMotorCtrlDriver;
+
+
+	@Resource
+	MiniServoDriver miniServoDriver;
+
+	public void clampALittle(Integer dpos) throws AppException {
+		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModClampingM, 1);
+		stepMotorCtrlDriver.stepMotorEasyMoveByBlock(StepMotorMId.ShakeModClampingM, dpos, overtime);
+	}
+
+	public void unclampALittle(Integer dpos) throws AppException {
+		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModClampingM, 1);
+		stepMotorCtrlDriver.stepMotorEasyMoveByBlock(StepMotorMId.ShakeModClampingM, -dpos, overtime);
+	}
+
+	@PostConstruct
+	public void init() {
+		var page = extApiPageMgr.newPage(this);
+
+		page.newGroup("摇匀模组-试管夹紧电机");
+		page.addFunction("夹紧一点", this::clampALittle).setParamVal("dpos", () -> 5);
+		page.addFunction("松开一点", this::unclampALittle).setParamVal("dpos", 5);
+
+
+		extApiPageMgr.addPage(page);
+	}
+}

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

@@ -15,7 +15,7 @@ public class FeedingModMeasurePage {
 	@Resource
 	ExtApiPageMgr extApiPageMgr;
 
-	static final Integer overtime = 10000;
+	static final Integer overtime = 20000;
 
 
 	@Resource
@@ -29,23 +29,38 @@ public class FeedingModMeasurePage {
 	Integer moveByDistance = 100;
 
 	public Integer measureFeedingModXMPos() throws AppException {
-		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.FeedingModXM,1);
+		if (stepMotorCtrlDriver.isHasMoveToZero(StepMotorMId.FeedingModXM)) {
+			return stepMotorCtrlDriver.stepMotorReadPos(StepMotorMId.FeedingModXM);
+		}
+		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.FeedingModXM, 1);
 		return stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.FeedingModXM, overtime);
 	}
 
 
 	public void moveRight(Integer moveByDistance) throws AppException {
-		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.FeedingModXM,1);
+		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.FeedingModXM, 1);
 		stepMotorCtrlDriver.stepMotorEasyMoveByBlock(StepMotorMId.FeedingModXM, -moveByDistance, overtime);
 		this.moveByDistance = moveByDistance;
 	}
 
 	public void moveLeft(Integer moveByDistance) throws AppException {
-		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.FeedingModXM,1);
+		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.FeedingModXM, 1);
 		stepMotorCtrlDriver.stepMotorEasyMoveByBlock(StepMotorMId.FeedingModXM, moveByDistance, overtime);
 		this.moveByDistance = moveByDistance;
 	}
 
+	public void moveTo(Integer pos) throws AppException {
+		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.FeedingModXM, 1);
+		if (!stepMotorCtrlDriver.isHasMoveToZero(StepMotorMId.FeedingModXM)) {
+			stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.FeedingModXM, overtime);
+		}
+		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.FeedingModXM, pos, overtime);
+	}
+
+	public void freedomRun() throws AppException {
+		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.FeedingModXM, 0);
+	}
+
 
 	@PostConstruct
 	public void init() {
@@ -55,6 +70,8 @@ public class FeedingModMeasurePage {
 		page.addFunction("向右移动", this::moveRight).setParamVal("moveByDistance", () -> moveByDistance);
 		page.addFunction("向左移动", this::moveLeft).setParamVal("moveByDistance", () -> moveByDistance);
 		page.addFunction("测量位置", this::measureFeedingModXMPos);
+		page.addFunction("移动到指定位置", this::moveTo);
+		page.addFunction("Freedom", this::freedomRun);
 
 		extApiPageMgr.addPage(page);
 	}

src/main/java/a8k/extui/page/miniservo/MiniServoScanerPage.java

@@ -0,0 +1,49 @@
+package a8k.extui.page.miniservo;
+
+
+import a8k.app.a8ktype.exception.AppException;
+import a8k.app.hardware.driver.MiniServoDriver;
+import a8k.app.hardware.driver.type.MiniServoMId;
+import a8k.extui.mgr.ExtApiPageMgr;
+import jakarta.annotation.PostConstruct;
+import jakarta.annotation.Resource;
+import org.springframework.stereotype.Component;
+
+import java.util.HashMap;
+import java.util.Map;
+
+@Component
+public class MiniServoScanerPage {
+
+	@Resource
+	MiniServoDriver miniServoDriver;
+
+
+	public Object scan() throws AppException {
+		Boolean shakeModGripperSVState            = miniServoDriver.miniServoPing(MiniServoMId.ShakeModGripperSV);
+		Boolean shakeModGripperYSVState           = miniServoDriver.miniServoPing(MiniServoMId.ShakeModGripperYSV);
+		Boolean shakeModTubeScanerClampingSVState = miniServoDriver.miniServoPing(MiniServoMId.ShakeModTubeScanerClampingSV);
+		Boolean shakeModTubeScanerRotateSVState   = miniServoDriver.miniServoPing(MiniServoMId.ShakeModTubeScanerRotateSV);
+
+		Map<String, Boolean> state = new HashMap<>();
+		state.put("摇匀模组-夹爪", shakeModGripperSVState);
+		state.put("摇匀模组-Y轴", shakeModGripperYSVState);
+
+		state.put("入料模组-扫码夹紧", shakeModTubeScanerClampingSVState);
+		state.put("入料模组-扫码旋转", shakeModTubeScanerRotateSVState);
+		return state;
+	}
+
+	@Resource
+	ExtApiPageMgr extApiPageMgr;
+
+	@PostConstruct
+	public void init() {
+		var page = extApiPageMgr.newPage(this);
+
+		page.newGroup("基础");
+		page.addFunction("扫描", this::scan);
+
+		extApiPageMgr.addPage(page);
+	}
+}

src/main/java/a8k/extui/page/extsetting/pos_calibration/P01MiniServoReferencePointIniter.java → src/main/java/a8k/extui/page/miniservo/P01MiniServoReferencePointIniter.java

@@ -1,4 +1,4 @@
-package a8k.extui.page.extsetting.pos_calibration;
+package a8k.extui.page.miniservo;
 
 
 import a8k.extui.mgr.ExtApiPageMgr;
@@ -17,16 +17,16 @@ public class P01MiniServoReferencePointIniter {
 
 
 	public void disableMotor() throws AppException {
-		miniServoDriver.miniServoEnable(MiniServoMId.ShakeModGripperSV, 0);
-		miniServoDriver.miniServoEnable(MiniServoMId.ShakeModGripperYSV, 0);
-		miniServoDriver.miniServoEnable(MiniServoMId.ShakeModTubeScanerClampingSV, 0);
+		miniServoDriver.miniServoForceEnable(MiniServoMId.ShakeModGripperSV, 0);
+		miniServoDriver.miniServoForceEnable(MiniServoMId.ShakeModGripperYSV, 0);
+		miniServoDriver.miniServoForceEnable(MiniServoMId.ShakeModTubeScanerClampingSV, 0);
 	}
 
 
 	public void enableMotor() throws AppException {
-		miniServoDriver.miniServoEnable(MiniServoMId.ShakeModGripperSV, 1);
-		miniServoDriver.miniServoEnable(MiniServoMId.ShakeModGripperYSV, 1);
-		miniServoDriver.miniServoEnable(MiniServoMId.ShakeModTubeScanerClampingSV, 1);
+		miniServoDriver.miniServoForceEnable(MiniServoMId.ShakeModGripperSV, 1);
+		miniServoDriver.miniServoForceEnable(MiniServoMId.ShakeModGripperYSV, 1);
+		miniServoDriver.miniServoForceEnable(MiniServoMId.ShakeModTubeScanerClampingSV, 1);
 	}
 
 

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

@@ -40,7 +40,7 @@ public class MotorCtrlPage {
 
 
 	public void stepMotorEasyMoveToZero() throws AppException {
-		stepMotorCtrlDriver.stepMotorEasyMoveToZeroPointQuickBlock(id, 10000);
+		stepMotorCtrlDriver.stepMotorEasyMoveToZero(id);
 	}
 
 	public void stepMotorEasyMoveForward() throws AppException {
@@ -67,7 +67,7 @@ public class MotorCtrlPage {
 		page.newGroup("基础操作");
 		page.addFunction("使能电机", this::enableMotor);
 		page.addFunction("失能电机", this::disableMotor);
-		page.addFunction("快速归零", this::stepMotorEasyMoveToZero);
+		page.addFunction("归零", this::stepMotorEasyMoveToZero);
 
 		page.newGroup("相对移动");
 		page.addFunction("设置相对移动距离", this::setStepMotorDpos).setParamVal("dpos", () -> dpos);

src/main/java/a8k/unittest/TestBeforeRun.java

@@ -1,21 +0,0 @@
-package a8k.unittest;
-
-
-import a8k.app.service.param.pipetteparam.PipetteGunLLDParamMgr;
-import jakarta.annotation.PostConstruct;
-import jakarta.annotation.Resource;
-import org.springframework.stereotype.Component;
-
-@Component
-public class TestBeforeRun {
-
-	@Resource
-	PipetteGunLLDParamMgr pipetteGunLLDParamMgr;
-
-	@PostConstruct
-	void init() {
-//		LldType lddType = pipetteGunLLDParamMgr.getLLDType(PipetteGunLLDTypeParam.DEFAULT_LLD_TYPE);
-//		Assert.isTrue(lddType != null, "LldType is null");
-	}
-
-}

src/main/java/a8k/unittest/TestOptAnalyzer.java

@@ -1,55 +0,0 @@
-package a8k.unittest;
-
-import a8k.app.a8kproj.A8kReactionResultComputer;
-import a8k.app.a8kproj.fakeprojcontext.FakeProjInfoContextFactory;
-import a8k.app.a8kproj.optalgo.type.OptAlgoAnalysResult;
-import a8k.app.a8ktype.state.SampleInfo;
-import a8k.app.dao.db.type.a8kidcard.zenum.A8kReactionFlowType;
-import a8k.app.a8ktype.type.ReactionResult;
-import a8k.app.utils.ProjInfo;
-import jakarta.annotation.PostConstruct;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-@Component
-@Slf4j
-public class TestOptAnalyzer {
-
-	@FunctionalInterface
-	public interface TEST {
-		Boolean test();
-	}
-
-	public Boolean TEST_OPT_RESULT_PARSE_01() {
-		var cfg = FakeProjInfoContextFactory.createCfg("TEST_PROJ", 2, A8kReactionFlowType.SampleAndBS, 3);
-
-		ProjInfo   projInfoContext = FakeProjInfoContextFactory.build(cfg);
-		SampleInfo sampleInfo      = new SampleInfo();
-
-		OptAlgoAnalysResult optAlgoAnalysResult = new OptAlgoAnalysResult();
-		optAlgoAnalysResult.pdR     = 1.0;
-		optAlgoAnalysResult.pdAR    = 1.0;
-		optAlgoAnalysResult.pdATR   = 1.0;
-		optAlgoAnalysResult.pdRFR   = 1.0;
-		optAlgoAnalysResult.pdT4R   = 1.0;
-		optAlgoAnalysResult.pdT4T3R = 1.0;
-
-		ReactionResult result = A8kReactionResultComputer.optComputeResult(sampleInfo, projInfoContext, 0, optAlgoAnalysResult);
-		log.info("result: {}", result);
-		return true;
-	}
-
-	void test(String mark, TEST test) {
-		Boolean suc = test.test();
-		if (suc) {
-			log.info("TEST: {} -> SUCCESS", mark);
-		} else {
-			log.error("TEST: {} -> FAILED", mark);
-		}
-	}
-
-	@PostConstruct
-	void init() {
-		test("TEST_OPT_RESULT_PARSE_01", this::TEST_OPT_RESULT_PARSE_01);
-	}
-}

src/main/resources/application.yml

@@ -2,7 +2,7 @@ server:
   port: 80
 
 #device.runmode: "RealMode"
-a8k.enableTemperatureCtrl: true
+a8k.enableTemperatureCtrl: false
 device.runmode: "RealMode"