diff --git a/src/main/java/com/iflytop/a800/task/TubeTestTask.java b/src/main/java/com/iflytop/a800/task/TubeTestTask.java
index 4e64f99..2793557 100644
--- a/src/main/java/com/iflytop/a800/task/TubeTestTask.java
+++ b/src/main/java/com/iflytop/a800/task/TubeTestTask.java
@@ -9,11 +9,17 @@ import com.iflytop.a800.model.MdbProject;
 import com.iflytop.a800.model.MdbTest;
 import com.iflytop.a800.resource.*;
 import com.iflytop.a800.utils.ScanResultAnalysisAlgo;
+import com.iflytop.uf.UfActuatorCmdExecutor;
 import com.iflytop.uf.UfCmdSnippetExecutor;
-import com.iflytop.uf.util.UfCommon;
+import com.iflytop.uf.model.UfMdbDictItem;
+import com.iflytop.uf.model.UfMdbOption;
 import com.iflytop.uf.util.UfJsonHelper;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
 import java.util.*;
 public class TubeTestTask extends TaskBase {
+    // logger
+    public static final Logger LOG = LoggerFactory.getLogger(TubeTestTask.class);
     // 测试试管
     public TestTube tube;
     // 测试项目
@@ -32,6 +38,8 @@ public class TubeTestTask extends TaskBase {
     private TestCard testCard;
     // id chip
     private MdbIdChip idChip;
+    // 孵育槽位
+    private IncubatorSlot incubatorSlot;
 
     // 任务准备
     public void prepare() {
@@ -54,6 +62,14 @@ public class TubeTestTask extends TaskBase {
         this.test.materialLotCode = this.testCard.lotCode;
         this.test.save();
 
+        // 移动试管架
+        if ( !UfMdbDictItem.match("TUBE_TYPE", "EMERGENCY", this.tube.type) ) {
+            Integer testStartPos = UfMdbOption.getInteger("TubeRackTubeTestStartPos");
+            Integer testDistance = UfMdbOption.getInteger("TubeRackTubeTestDistance");
+            int testPos = testStartPos + testDistance * this.tube.index;
+            UfActuatorCmdExecutor.execute("MotorTubeRackMove", "motor_easy_move_to", Integer.toString(testPos));
+        }
+
         this.idChip = new MdbIdChip();
         this.idChip.peakCount = 3;
         this.idChip.itemCount = 1;
@@ -69,6 +85,11 @@ public class TubeTestTask extends TaskBase {
         )));
     }
 
+    // 记录日志
+    private void log(String message, Object ... args ) {
+        LOG.info(message, args);
+    }
+
     @Override
     public void run() {
         this.prepare();
@@ -89,7 +110,9 @@ public class TubeTestTask extends TaskBase {
 
             var stepAction = stepNode.get("action").asText();
             switch ( stepAction ) {
-//            case "shaking"  : this.shake(stepNode); break;
+            case "shaking"  : this.shake(stepNode); break;
+            case "uncap"    : this.uncap(); break;
+            case "cap"      : this.cap(); break;
             case "puncture" : this.executeStepPuncture(stepNode); break;
             case "aspirate" : this.executeStepAspirate(stepNode); break;
             case "mixing"   : this.executeStepMixing(stepNode); break;
@@ -98,16 +121,36 @@ public class TubeTestTask extends TaskBase {
             case "analysis" : this.executeStepAnalysis(stepNode); break;
             }
         }
+
+        this.taskFinish();
     }
 
     // 摇匀
     private void shake( JsonNode stepNode ) {
-        UfCmdSnippetExecutor.execute("SampleTestShake");
+        UfCmdSnippetExecutor.execute("SampleTestShakePrepare");
+        for ( int i=0; i<3; i++ ) {
+            UfActuatorCmdExecutor.execute("MotorTubeShake","step_motor_easy_move_to", "60");
+            UfActuatorCmdExecutor.execute("MotorTubeShake","step_motor_easy_move_to", "120");
+        }
+        UfActuatorCmdExecutor.execute("MotorTubeShake","step_motor_easy_move_to", "90");
     }
 
     // 取盖
     private void uncap() {
-        UfCmdSnippetExecutor.execute("SampleTestUnCap");
+        if ( UfMdbDictItem.match("TUBE_TYPE", "WB_5ML", this.tube.type) ) {
+            UfCmdSnippetExecutor.execute("SampleTestUnCap");
+        } else if ( UfMdbDictItem.match("TUBE_TYPE", "WB_3ML", this.tube.type) ) {
+            UfCmdSnippetExecutor.execute("SampleTestUnCap");
+        }
+    }
+
+    // 盖帽
+    private void cap() {
+        if ( UfMdbDictItem.match("TUBE_TYPE", "WB_5ML", this.tube.type) ) {
+            UfCmdSnippetExecutor.execute("SampleTestCap");
+        } else if ( UfMdbDictItem.match("TUBE_TYPE", "WB_3ML", this.tube.type) ) {
+            UfCmdSnippetExecutor.execute("SampleTestCap");
+        }
     }
 
     // 穿孔
@@ -133,8 +176,8 @@ public class TubeTestTask extends TaskBase {
             pipette.aspirateFromSampleEpp0_5(this.tube.index, volume);
         } else if ( "Sample".equals(source) && "SampleEpp1_5Tube".equals(this.tube.type) ) {
             pipette.aspirateFromSampleEpp1_5(this.tube.index, volume);
-        } else if ( "Sample".equals(source) && "SampleWholeBlood5mlTube".equals(this.tube.type) ) {
-            pipette.aspirateFromWholeBlood5ml(this.tube.index, volume);
+        } else if ( "Sample".equals(source) && UfMdbDictItem.match("TUBE_TYPE", "WB_5ML", this.tube.type)) {
+            pipette.aspirateFromWholeBlood5ml(volume);
         } else if ( "Sample".equals(source) && "SampleWholeBlood3mlTube".equals(this.tube.type) ) {
             pipette.aspirateFromWholeBlood3ml(this.tube.index, volume);
         } else {
@@ -162,7 +205,7 @@ public class TubeTestTask extends TaskBase {
     // 孵育
     private void executeStepIncubate( JsonNode stepNode ) {
         Device device = Device.getInstance();
-        device.incubator.pushNewCard(this.testCard.boxIndex);
+        this.incubatorSlot = device.incubator.pushNewCard(this.testCard);
 
         var pipette = device.pipette;
         pipette.tipPickUp();
@@ -172,15 +215,25 @@ public class TubeTestTask extends TaskBase {
 
         pipette.tipDrop();
 
-        Integer duration = stepNode.get("duration").asInt();
-        UfCommon.delay(duration);
+        int duration = stepNode.get("duration").asInt();
+        TimerTask wakeupTask = new TimerTask() {
+            @Override
+            public void run() {
+                TubeTestTask.this.log("孵育完成,等待扫描结果");
+                TubeTestTask.this.setStatus("READY");
+            }
+        };
+        Timer timer = new Timer();
+        timer.schedule(wakeupTask, duration);
+        this.taskWait("IncubateDone");
     }
 
     // 扫描
     private void executeStepAnalysis( JsonNode stepNode ) {
-        // 扫描
+        this.log("扫描结果");
+
         Device device = Device.getInstance();
-//        device.incubator.exitToScanner();
+        device.incubator.exitToScanner(this.incubatorSlot);
         var scanner = device.scanner;
         scanner.scanTypeF();
         var scanResult = scanner.readResult();