update

10 months ago · 4a15da7ae4
31 changed files with 933 additions and 584 deletions
--- a/src/main/java/a8k/service/app/appctrl/AppDeviceCtrlService.java
+++ b/src/main/java/a8k/service/app/appctrl/AppDeviceCtrlService.java
@ -5,9 +5,10 @@ import a8k.extapi_controler.utils.ExtApiFn;
 import a8k.extapi_controler.utils.ExtApiTab;
 import a8k.service.app.appstate.ConsumablesMgrService;
 import a8k.service.app.appstate.ProjectProcessContextMgrService;
+import a8k.service.app.appstate.SensorState;
 import a8k.service.app.appstate.type.*;
 import a8k.service.app.devicectrl.ctrlservice.DeviceInitCtrlService;
- 
+
 import a8k.type.ConsumableGroup;
 import a8k.type.checkpoint.CheckResult;
 import a8k.service.app.appstate.GStateService;
@ -25,15 +26,15 @@ import java.util.Map;
 public class AppDeviceCtrlService {

 	@Resource
-	GStateService          gstate;
+	GStateService                   gstate;
 	@Resource
-	DeviceInitCtrlService  deviceInitializationModule; //设备初始化模块
+	DeviceInitCtrlService           deviceInitializationModule; //设备初始化模块
 	@Resource
-	AppMainFlowCtrlService mainFlowCtrlSampleScanService; //主流程控制模块
+	AppMainFlowCtrlService          mainFlowCtrlSampleScanService; //主流程控制模块
 	@Resource
-	AppConsumablesScanService appConsumablesScanService; //耗材扫描模块
+	AppConsumablesScanService       appConsumablesScanService; //耗材扫描模块
 	@Resource
-	ConsumablesMgrService     consumablesMgrService; //耗材管理模块
+	ConsumablesMgrService           consumablesMgrService; //耗材管理模块
 	@Resource
 	ProjectProcessContextMgrService projectProcessContextMgrService; //项目处理上下文管理模块

@ -55,7 +56,7 @@ public class AppDeviceCtrlService {
 	 * 						设备控制
 	 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
 	@ExtApiFn(name = "开始工作", group = "设备控制")
-	public void startWork() {
+	public void startWork() throws AppException {
 		mainFlowCtrlSampleScanService.startWork();
 	}

@ -147,6 +148,10 @@ public class AppDeviceCtrlService {
 		return gstate.getConsumableState();
 	}

+	@ExtApiFn(name = "获取<传感器>状态", group = "设备状态")
+	public SensorState getSensorState() {
+		return gstate.getSensorState();
+	}


 	/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
--- a/src/main/java/a8k/service/app/appctrl/AppMainFlowCtrlService.java
+++ b/src/main/java/a8k/service/app/appctrl/AppMainFlowCtrlService.java
@ -1,5 +1,6 @@
 package a8k.service.app.appctrl;

+import a8k.hardware.type.a8kcanprotocol.A8kEcode;
 import a8k.service.app.appctrl.mainflowctrl.MainFlowCtrlScheduler;
 import a8k.service.app.appctrl.mainflowctrl.base.A8kActionStepType;
 import a8k.service.app.appctrl.mainflowctrl.base.A8kErrorContext;
@ -10,6 +11,8 @@ import a8k.service.app.appstate.type.MainFlowCtrlState;
 import a8k.service.app.appstate.type.state.A8kWorkState;
 import a8k.service.app.appstate.type.state.TubeState;
 import a8k.SpringBootBeanUtil;
+import a8k.type.exception.AppException;
+import a8k.utils.AppExceptionBuilder;
 import jakarta.annotation.PostConstruct;
 import jakarta.annotation.Resource;
 import org.slf4j.Logger;
@ -32,6 +35,9 @@ public class AppMainFlowCtrlService {
 	@Resource
 	SpringBootBeanUtil springBoot;

+	@Resource
+	AppExceptionBuilder ebuilder;
+
 	//
 	//	Init
 	//
@ -128,7 +134,15 @@ public class AppMainFlowCtrlService {
 		return scheduler.getA8kStepActionList();
 	}

-	public void startWork() {
+	public void startWork() throws AppException {
+		if (!gstate.isDeviceInited()) {
+			throw ebuilder.buildAppException(A8kEcode.APPE_DEVICE_NOT_INITED);
+		}
+
+		if (gstate.getSensorState().wasteBinFullFlag) {
+			throw ebuilder.buildAppException(A8kEcode.APPE_RECYCLE_BIN_OVERFLOW);
+		}
+
 		MainFlowCtrlState state = gstate.getMainFlowCtrlState();
 		state.startActionPending = true;
 	}
--- a/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_CLEAR_ERROR_BEFORE_WORK.java
+++ b/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_CLEAR_ERROR_BEFORE_WORK.java
@ -17,28 +17,30 @@ import org.slf4j.LoggerFactory;
 import org.springframework.stereotype.Component;

 import java.util.List;
+
 import a8k.service.test.state.TestStateMgrService;
 import a8k.service.test.state.VirtualDevice;
+
+
+/**
+ * 清空错误，针对部分错误，进行相应的硬件操作
+ *
+ * 可能发生的错误
+ * 		1. 处理过程取tip头失败
+ *
+ */
@Component
 public class DO_CLEAR_ERROR_BEFORE_WORK extends A8kStepAction {
-	static Logger logger = LoggerFactory.getLogger(DO_CLEAR_ERROR_BEFORE_WORK.class);

 	DO_CLEAR_ERROR_BEFORE_WORK() {
 		super(A8kActionStepType.DO_CLEAR_ERROR_BEFORE_WORK);
 	}

 	@Resource
-	GStateService                  gstate;
-	@Resource
-	CondtionMgrService             cms;
-	@Resource
-	IncubationPlateStateMgrService incubationPlateStateMgrService;
-	@Resource
-	OptScanModuleStateMgrService   optScanModuleStateMgrService;
+	GStateService gstate;

 	MainFlowCtrlState mfcs;

-
 	@PostConstruct
 	void init() {
 		mfcs = gstate.mainFlowCtrlState;
@ -46,7 +48,6 @@ public class DO_CLEAR_ERROR_BEFORE_WORK extends A8kStepAction {


 	@Override public void doaction() throws AppException {
-		//ProcessErrorBeforeContinue
 		mfcs.errorFlag = false;
 		mfcs.ecodeList.clear();
 	}
--- a/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_FINISH_TUBE_PROCESS.java
+++ b/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_FINISH_TUBE_PROCESS.java
@ -13,6 +13,8 @@ import a8k.service.app.appstate.type.MainFlowCtrlState;
 import a8k.service.app.appstate.type.Tube;
 import a8k.service.app.appstate.type.state.TubeState;

+import a8k.service.app.devicectrl.ctrlservice.HbotCtrlService;
+import a8k.service.app.devicectrl.ctrlservice.TubePreProcesCtrlService;
 import a8k.type.exception.AppException;
 import jakarta.annotation.PostConstruct;
 import jakarta.annotation.Resource;
@ -26,8 +28,17 @@ import java.util.List;
 import a8k.service.test.state.TestStateMgrService;
 import a8k.service.test.state.VirtualDevice;

-/**
- * 处理错误的试管
+/*
+ * 当某试管所有错误处理完成时，触发该逻辑
+ *
+ * 条件:
+ * 	1.试管状态为POST_PROCESSED
+ * 	2.试管状态为ERROR
+ *
+ * 动作:
+ * 	1.将试管状态修改成PROCESS_COMPLETED
+ *  2.如果试管状态为ERROR,则复位hbot和预处理模块
+ *
 */
@Component
 public class DO_FINISH_TUBE_PROCESS extends A8kStepAction {
@ -44,12 +55,15 @@ public class DO_FINISH_TUBE_PROCESS extends A8kStepAction {
 	@Resource
 	VirtualDevice       virtualDevice;

+
 	@Resource
-	CondtionMgrService              cms;
+	TubePreProcesCtrlService tubePreProcesCtrlService;
 	@Resource
-	IncubationPlateStateMgrService  incubationPlateStateMgrService;
+	HbotCtrlService          hbotCtrlService;
+
+
 	@Resource
-	OptScanModuleStateMgrService    optScanModuleStateMgrService;
+	CondtionMgrService              cms;
 	@Resource
 	ProjectProcessContextMgrService projectProcessContextMgrService;

@ -61,10 +75,25 @@ public class DO_FINISH_TUBE_PROCESS extends A8kStepAction {
 		mfcs = gstate.mainFlowCtrlState;
 	}

+	void resetHbotAndShakeModule() throws AppException {
+		if (testStateMgrService.isVirtualDeviceEnable()) {
+			virtualDevice.doVirtualThings("处理错误试管", 2);
+			virtualDevice.doVirtualThings("复位摇匀模组", 2);
+			virtualDevice.doVirtualThings("复位HBOT", 2);
+			return;
+		}
+
+		//复位hbot
+		hbotCtrlService.dropTip();
+		hbotCtrlService.moveQuickToZero();
+		//复位预处理模块
+		tubePreProcesCtrlService.resteModule();
+
+	}
+

 	@Override public void doaction() throws AppException {
 		//ProcessErrorBeforeContinue
-
 		Tube tube = gstate.getCurProcessingTube();
 		Assert.isTrue(tube != null, "tube != null");
 		if (tube.getState().equals(TubeState.POST_PROCESSED)) {
@ -72,24 +101,20 @@ public class DO_FINISH_TUBE_PROCESS extends A8kStepAction {
 			return;
 		}

-		if (testStateMgrService.isVirtualDeviceEnable()) {
-			virtualDevice.doVirtualThings("处理错误试管", 2);
-			 virtualDevice.doVirtualThings("复位摇匀模组", 2);
-			 virtualDevice.doVirtualThings("复位HBOT", 2);
-		}
+		resetHbotAndShakeModule();
 		projectProcessContextMgrService.finishedTubeProcess();
 	}

 	@Override public Boolean checkCondition() {
 		Boolean cond1 = cms.isCanDoAction();
-		Boolean cond2 = cms.isHasSomeErrorTubeToBeProcessed() || cms.isHasPostProcessedTube();
+		Boolean cond2 = cms.isHasSomeErrorTubeToBeProcessed() || cms.isHasPostProcessedTube(); //
 		return cond1 && cond2;
 	}

 	@Override public List<A8kPublicResourceType> getResourceList() {
 		return List.of(
 				A8kPublicResourceType.ShakeModule,
-				A8kPublicResourceType.HBOT
+				A8kPublicResourceType.TubeFeedModule
 		);
 	}

--- a/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_PROCESS_ERROR_PLATE.java
+++ b/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_PROCESS_ERROR_PLATE.java
@ -1,16 +1,15 @@
 package a8k.service.app.appctrl.mainflowctrl.action;

-import a8k.OS;
 import a8k.service.app.appctrl.mainflowctrl.CondtionMgrService;
 import a8k.service.app.appctrl.mainflowctrl.base.A8kActionStepType;
 import a8k.service.app.appctrl.mainflowctrl.base.A8kStepAction;
 import a8k.service.app.appstate.GStateService;
 import a8k.service.app.appstate.IncubationPlateStateMgrService;
-import a8k.service.app.appstate.OptScanModuleStateMgrService;
 import a8k.service.app.appstate.ProjectProcessContextMgrService;
 import a8k.service.app.appstate.resource.A8kPublicResourceType;
 import a8k.service.app.appstate.type.IncubationSubTank;
 import a8k.service.app.appstate.type.MainFlowCtrlState;
+import a8k.service.app.devicectrl.ctrlservice.OptScanModule;
 import a8k.service.test.state.TestStateMgrService;
 import a8k.service.test.state.VirtualDevice;
 import a8k.type.exception.AppException;
@ -40,16 +39,17 @@ public class DO_PROCESS_ERROR_PLATE extends A8kStepAction {
 	@Resource
 	VirtualDevice       virtualDevice;

-
 	@Resource
 	CondtionMgrService              cms;
 	@Resource
 	IncubationPlateStateMgrService  incubationPlateStateMgrService;
 	@Resource
-	OptScanModuleStateMgrService    optScanModuleStateMgrService;
-	@Resource
 	ProjectProcessContextMgrService projectProcessContextMgrService;

+	@Resource
+	OptScanModule optScanModule;
+
+
 	MainFlowCtrlState mfcs;

 	@PostConstruct
@ -58,25 +58,28 @@ public class DO_PROCESS_ERROR_PLATE extends A8kStepAction {
 	}


+	void doEjectAllErrorPlate(IncubationSubTank errorTank) throws AppException {
+		if (testStateMgrService.isVirtualDeviceEnable()) {
+			virtualDevice.doVirtualThings("处理错误板夹:" + errorTank.getPos());
+			virtualDevice.doVirtualThings("推出板夹到光学模组");
+			virtualDevice.doVirtualThings("丢弃板夹");
+			return;
+		}
+
+		logger.info("处理错误板夹:{}", errorTank.getPos());
+		optScanModule.pullPlate(errorTank.getPos());
+		optScanModule.dropPlate();
+	}
+
 	@Override public void doaction() throws AppException {
 		//ProcessErrorBeforeContinue
-
 		while (true) {
 			IncubationSubTank errorTank = incubationPlateStateMgrService.getErrorPlate();
 			if (errorTank == null) {
 				break;
 			}

-			if (testStateMgrService.isVirtualDeviceEnable()) {
-				logger.info("处理错误板夹:{}", errorTank.getPos());
-				//TODO:推出板夹到光学模组,同时丢弃板夹
-				logger.info("推出板夹到光学模组");
-				logger.info("丢弃板夹");
-				OS.forceSleep(3000);
-				virtualDevice.doVirtualThings("处理错误板夹:" + errorTank.getPos());
-				virtualDevice.doVirtualThings("推出板夹到光学模组");
-				virtualDevice.doVirtualThings("丢弃板夹");
-			}
+			doEjectAllErrorPlate(errorTank);
 			//
 			projectProcessContextMgrService.newPlateToOptScanPos(errorTank);
 			projectProcessContextMgrService.dropPlate();
--- a/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_START.java
+++ b/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_START.java
@ -6,7 +6,7 @@ import a8k.service.app.appstate.GStateService;
 import a8k.service.app.appstate.resource.A8kPublicResourceType;
 import a8k.service.app.appstate.type.MainFlowCtrlState;
 import a8k.service.app.appstate.type.state.A8kWorkState;
-import a8k.service.app.devicectrl.ctrlservice.TubeTubeFeedingCtrlService;
+import a8k.service.app.devicectrl.ctrlservice.DeviceInitCtrlService;
 import a8k.service.test.state.TestStateMgrService;
 import a8k.service.test.state.VirtualDevice;
 import a8k.type.exception.AppException;
@ -34,8 +34,7 @@ public class DO_START extends A8kStepAction {
 	VirtualDevice       virtualDevice;

 	@Resource
-	TubeTubeFeedingCtrlService tubeTubeFeedingCtrlService;
-
+	DeviceInitCtrlService deviceInitCtrlService;

 	MainFlowCtrlState mfcs;

@ -48,9 +47,11 @@ public class DO_START extends A8kStepAction {
 		mfcs.workStateChangeFlag = false;
 		if (testStateMgrService.isVirtualDeviceEnable()) {
 			virtualDevice.doVirtualThings("弹出试管架");
-		} else {
-			tubeTubeFeedingCtrlService.ejectTubeHolder();
+			return;
 		}
+
+		deviceInitCtrlService.clearDevice();
+
 	}

 	@Override public Boolean checkCondition() {
@ -61,6 +62,12 @@ public class DO_START extends A8kStepAction {
 	}

 	@Override public List<A8kPublicResourceType> getResourceList() {
-		return List.of(A8kPublicResourceType.ShakeModule);
+		return List.of(
+				A8kPublicResourceType.ShakeModule,
+				A8kPublicResourceType.IncubationPlateModule,
+				A8kPublicResourceType.OPTModule,
+				A8kPublicResourceType.PlatesBoxModule,
+				A8kPublicResourceType.HBOT
+		);
 	}
 }
--- a/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_STOP.java
+++ b/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_STOP.java
@ -7,7 +7,8 @@ import a8k.service.app.appstate.ProjectProcessContextMgrService;
 import a8k.service.app.appstate.resource.A8kPublicResourceType;
 import a8k.service.app.appstate.type.MainFlowCtrlState;
 import a8k.service.app.appstate.type.state.A8kWorkState;
- 
+
+import a8k.service.app.devicectrl.ctrlservice.DeviceInitCtrlService;
 import a8k.type.exception.AppException;
 import jakarta.annotation.PostConstruct;
 import jakarta.annotation.Resource;
@ -16,8 +17,10 @@ import org.slf4j.LoggerFactory;
 import org.springframework.stereotype.Component;

 import java.util.List;
+
 import a8k.service.test.state.TestStateMgrService;
 import a8k.service.test.state.VirtualDevice;
+
@Component
 public class DO_STOP extends A8kStepAction {
 	static Logger logger = LoggerFactory.getLogger(DO_STOP.class);
@ -27,15 +30,16 @@ public class DO_STOP extends A8kStepAction {
 	}

 	@Resource
-	GStateService                   gstate;
-		@Resource
+	GStateService       gstate;
+	@Resource
 	TestStateMgrService testStateMgrService;
 	@Resource
 	VirtualDevice       virtualDevice;

 	@Resource
 	ProjectProcessContextMgrService projectProcessContextMgrService;
-
+	@Resource
+	DeviceInitCtrlService           deviceInitCtrlService;

 	MainFlowCtrlState mfcs;

@ -44,16 +48,20 @@ public class DO_STOP extends A8kStepAction {
 		mfcs = gstate.mainFlowCtrlState;
 	}

-	@Override public void doaction() throws AppException {
-		mfcs.workStateChangeFlag = false;
-
+	void doClearDevice() throws AppException {
 		if (testStateMgrService.isVirtualDeviceEnable()) {
-			 virtualDevice.doVirtualThings("清空设备", 1);
+			virtualDevice.doVirtualThings("清空设备", 1);
+		} else {
+			deviceInitCtrlService.clearDevice();
 		}
+	}

+	@Override public void doaction() throws AppException {
+		mfcs.workStateChangeFlag = false;
+		//清空设备
+		doClearDevice();
+		//清空所有反应状态
 		projectProcessContextMgrService.finishedAll();
-
-		//清空所有孵育盘中的孔位
 	}

 	@Override public Boolean checkCondition() {
@ -64,6 +72,12 @@ public class DO_STOP extends A8kStepAction {
 	}

 	@Override public List<A8kPublicResourceType> getResourceList() {
-		return List.of();
+		return List.of(
+				A8kPublicResourceType.ShakeModule,
+				A8kPublicResourceType.IncubationPlateModule,
+				A8kPublicResourceType.OPTModule,
+				A8kPublicResourceType.PlatesBoxModule,
+				A8kPublicResourceType.HBOT
+		);
 	}
 }
--- a/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/README.md
+++ b/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/README.md
@ -0,0 +1,25 @@
+
+```angular2html
+
+当某个试管处理过程中触发错误？
+耗材不足错误:
+    检测点:开始处理试管前
+    错误处理逻辑: 上报错误，设备暂停，试管状态为待处理
+
+取Tip头失败:
+    检查点:试管处理过程中
+    错误处理:当前样本相关的测试全部失败，设备暂停，试管状态被标记为错误。
+
+取样本失败:
+    检查点:试管处理过程中
+    错误处理:当前样本相关的测试全部失败，不抛出异常，试管标记为错误，处理下一个试管。
+
+
+
+什么情况下设备不允许暂停？
+    1. 当试管正在处理的过程中，不允许暂停，因为此时耗材已经作为资源分配出去了，暂停后如果用户修改耗材状态就会造成资源状态无法同步。
+
+
+
+
+```
--- a/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ1_ENTER_TUBEHOLDER_AND_SCAN.java
+++ b/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ1_ENTER_TUBEHOLDER_AND_SCAN.java
@ -16,7 +16,7 @@ import a8k.service.app.appstate.resource.A8kPublicResourceType;
 import a8k.service.app.appstate.type.TubeHolder;
 import a8k.service.app.appstate.type.state.TubeHolderState;
 import a8k.service.app.appstate.type.state.TubeState;
-import a8k.service.app.devicectrl.ctrlservice.TubeTubeFeedingCtrlService;
+import a8k.service.app.devicectrl.ctrlservice.TubeFeedingCtrlService;

 import a8k.service.test.state.TestStateMgrService;
 import a8k.service.test.state.VirtualDevice;
@ -33,9 +33,6 @@ import org.springframework.util.Assert;

 import java.util.List;

-import a8k.service.test.state.TestStateMgrService;
-import a8k.service.test.state.VirtualDevice;
-
 /**
 *
 * 	TubeHolderState
@ -60,11 +57,11 @@ public class SEQ1_ENTER_TUBEHOLDER_AND_SCAN extends A8kStepAction {
 	VirtualDevice       virtualDevice;

 	@Resource
-	CondtionMgrService         cmgr;
+	CondtionMgrService     cmgr;
 	@Resource
-	TubeTubeFeedingCtrlService stc;
+	TubeFeedingCtrlService stc;
 	@Resource
-	AppEventBusService         ebus;
+	AppEventBusService     ebus;
 	@Resource
 	AppTubeSettingMgrService   appTubeSettingMgrService;
 	@Resource
--- a/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ2_SWITCH_TO_THE_NEXT_TUBE.java
+++ b/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ2_SWITCH_TO_THE_NEXT_TUBE.java
@ -9,7 +9,7 @@ import a8k.service.app.appstate.type.MainFlowCtrlState;
 import a8k.service.app.appstate.type.TubeHolder;
 import a8k.service.app.appstate.type.Tube;
 import a8k.service.app.appstate.type.state.TubeState;
-import a8k.service.app.devicectrl.ctrlservice.TubeTubeFeedingCtrlService;
+import a8k.service.app.devicectrl.ctrlservice.TubeFeedingCtrlService;
 import a8k.service.test.state.TestStateMgrService;
 import a8k.service.test.state.VirtualDevice;
 import a8k.type.exception.AppException;
@ -45,9 +45,9 @@ public class SEQ2_SWITCH_TO_THE_NEXT_TUBE extends A8kStepAction {
 	VirtualDevice       virtualDevice;

 	@Resource
-	TubeTubeFeedingCtrlService      sstc;
+	TubeFeedingCtrlService sstc;
 	@Resource
-	CondtionMgrService              cms;
+	CondtionMgrService     cms;
 	@Resource
 	ProjectProcessContextMgrService projectProcessContextMgrService;

--- a/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ4_PRE_PROCESS.java
+++ b/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ4_PRE_PROCESS.java
@ -12,8 +12,8 @@ import a8k.service.app.appstate.*;
 import a8k.service.app.appstate.resource.A8kPublicResourceType;
 import a8k.service.app.appstate.type.Tube;
 import a8k.service.app.devicectrl.exdriver.HbotBaseMoveExDriver;
-import a8k.service.app.devicectrl.ctrlservice.ReactionPlatesTransmitCtrlService;
-import a8k.service.app.devicectrl.ctrlservice.TubeTubeFeedingCtrlService;
+import a8k.service.app.devicectrl.ctrlservice.TurnableMoveCtrlService;
+import a8k.service.app.devicectrl.ctrlservice.TubeFeedingCtrlService;
 import a8k.service.app.devicectrl.ctrlservice.TubePreProcesCtrlService;
 import a8k.type.ecode.AppError;
 import a8k.type.exception.AppException;
@ -51,19 +51,19 @@ public class SEQ4_PRE_PROCESS extends A8kStepAction {
 	VirtualDevice       virtualDevice;

 	@Resource
-	TubeTubeFeedingCtrlService sstc;
+	TubeFeedingCtrlService sstc;
 	@Resource
-	ConsumablesMgrService consumablesMgrService;
+	ConsumablesMgrService  consumablesMgrService;
 	@Resource
 	ProjCfgMgrService     projCfgMgrService;
 	@Resource
 	AppEventBusService    ebus;
 	@Resource
-	AppExceptionBuilder               ebuilder;
+	AppExceptionBuilder      ebuilder;
 	@Resource
-	ReactionPlatesTransmitCtrlService reactionPlatesTransmitCtrlService;
+	TurnableMoveCtrlService  turnableMoveCtrlService;
 	@Resource
-	TubePreProcesCtrlService          tubePreProcesCtrlService;
+	TubePreProcesCtrlService tubePreProcesCtrlService;
 	@Resource
 	HbotBaseMoveExDriver              hbotBaseMoveExDriver;
 	@Resource
--- a/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ7_EJECT_TUBEHOLDER.java
+++ b/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ7_EJECT_TUBEHOLDER.java
@ -7,7 +7,7 @@ import a8k.service.app.appstate.GStateService;
 import a8k.service.app.appstate.type.MainFlowCtrlState;
 import a8k.service.app.appstate.resource.A8kPublicResourceType;
 import a8k.service.app.appstate.type.state.TubeHolderState;
-import a8k.service.app.devicectrl.ctrlservice.TubeTubeFeedingCtrlService;
+import a8k.service.app.devicectrl.ctrlservice.TubeFeedingCtrlService;

 import a8k.service.test.state.TestStateMgrService;
 import a8k.service.test.state.VirtualDevice;
@ -40,7 +40,7 @@ public class SEQ7_EJECT_TUBEHOLDER extends A8kStepAction {
 	CondtionMgrService    cms;

 	@Resource
-	TubeTubeFeedingCtrlService SST_HControler;
+	TubeFeedingCtrlService SST_HControler;

 	MainFlowCtrlState state;

--- a/src/main/java/a8k/service/app/appstate/GStateService.java
+++ b/src/main/java/a8k/service/app/appstate/GStateService.java
@ -43,6 +43,8 @@ public class GStateService {
 	String                  mcuVersion         = "NOTSET";
 	String                  sn                 = "NOTSET";

+	SensorState sensorState;
+
 	A8kIdCardInfo mountedIdCardInfo;

 	//主流程控制状态
@ -72,4 +74,8 @@ public class GStateService {
 		return mainFlowCtrlState.workState.equals(A8kWorkState.WORKING);
 	}

+	public synchronized SensorState getSensorState() {
+		return sensorState;
+	}
+
 }
--- a/src/main/java/a8k/service/app/appstate/SensorState.java
+++ b/src/main/java/a8k/service/app/appstate/SensorState.java
@ -0,0 +1,10 @@
+package a8k.service.app.appstate;
+
+import lombok.Data;
+
+@Data
+public class SensorState {
+	public Integer pboxTemperature        = 25;
+	public Integer incubateBoxTemperature = 25;
+	public Boolean wasteBinFullFlag       = false;
+}
--- a/src/main/java/a8k/service/app/appstate/resource/A8kPublicResourceType.java
+++ b/src/main/java/a8k/service/app/appstate/resource/A8kPublicResourceType.java
@ -1,7 +1,8 @@
 package a8k.service.app.appstate.resource;

 public enum A8kPublicResourceType {
-	ShakeModule,//样本平移电机
+	ShakeModule,//摇匀模组
+	TubeFeedModule,//入料模组
 	IncubationPlateModule,//孵育盘电机
 	OPTModule, //光学电机
 	PlatesBoxModule,//板夹仓电机
--- a/src/main/java/a8k/service/app/devicectrl/calibration/ReactionPlatesTransmitControlerCalibration.java
+++ b/src/main/java/a8k/service/app/devicectrl/calibration/ReactionPlatesTransmitControlerCalibration.java
@ -3,13 +3,15 @@ package a8k.service.app.devicectrl.calibration;
 import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
 import a8k.extapi_controler.utils.ExtApiFn;
 import a8k.extapi_controler.utils.ExtApiTab;
+import a8k.service.app.devicectrl.ctrlservice.OptScanModule;
+import a8k.service.app.devicectrl.ctrlservice.PlateBoxCtrlService;
 import a8k.service.app.devicectrl.driver.HbotDriver;
 import a8k.service.app.devicectrl.driver.MiniServoDriver;
 import a8k.service.app.devicectrl.driver.PipetteCtrlDriver;
 import a8k.service.app.devicectrl.driver.StepMotorCtrlDriver;
 import a8k.service.app.devicectrl.driver.type.StepMotorMId;
 import a8k.service.app.devicectrl.ctrlservice.HbotCtrlService;
-import a8k.service.app.devicectrl.ctrlservice.ReactionPlatesTransmitCtrlService;
+import a8k.service.app.devicectrl.ctrlservice.TurnableMoveCtrlService;
 import a8k.service.app.devicectrl.exdriver.MotorEnableExDriver;
 import a8k.service.app.devicectrl.param.*;
 import a8k.type.ConsumableGroup;
@ -26,17 +28,21 @@ public class ReactionPlatesTransmitControlerCalibration {
 	final static int overtime = 10000;

 	@Resource
-	MiniServoDriver                   miniServoDriver;
+	MiniServoDriver         miniServoDriver;
 	@Resource
-	StepMotorCtrlDriver               stepMotorCtrlDriver;
+	StepMotorCtrlDriver     stepMotorCtrlDriver;
 	@Resource
-	OptModuleParamsMgr                optModuleParamsMgr;
+	OptModuleParamsMgr      optModuleParamsMgr;
 	@Resource
-	TurntablePosParamMgr              turntablePosParamMgr;
+	TurntablePosParamMgr    turntablePosParamMgr;
 	@Resource
-	PlatesBoxPosParamMgr              platesBoxPosParamMgr;
+	PlatesBoxPosParamMgr    platesBoxPosParamMgr;
 	@Resource
-	ReactionPlatesTransmitCtrlService reactionPlatesTransmitCtrlService;
+	TurnableMoveCtrlService turnableMoveCtrlService;
+	@Resource
+	PlateBoxCtrlService     plateBoxCtrlService;
+	@Resource
+	OptScanModule           optScanModule;

 	@Resource
 	PipetteCtrlDriver pipetteCtrlDriver;
@ -209,25 +215,25 @@ public class ReactionPlatesTransmitControlerCalibration {

 	@ExtApiFn(name = "滴定", group = "校验", order = 1000)
 	public void turntableMoveDropPos(IncubatorPos pos) throws AppException {
-		reactionPlatesTransmitCtrlService.trunableMoveToDropLiquidPos(pos);
+		turnableMoveCtrlService.trunableMoveToDropLiquidPos(pos);
 		hbotCtrlService.moveToDropLiquidPos();
 	}

 	@ExtApiFn(name = "孵育盘移动到拉板位", group = "校验", order = 1001)
 	public void turntableMovePullPos(IncubatorPos pos) throws AppException {
-		reactionPlatesTransmitCtrlService.trunableMoveToPullPos(pos);
+		turnableMoveCtrlService.trunableMoveToPullPos(pos);
 	}

 	@ExtApiFn(name = "孵育盘移动到推板位", group = "校验", order = 1002)
 	public void turntableMovePushPos(IncubatorPos pos) throws AppException {
-		reactionPlatesTransmitCtrlService.trunableMoveToPushPos(pos);
+		turnableMoveCtrlService.trunableMoveToPushPos(pos);
 	}

 	@ExtApiFn(name = "反应板.推一丢一", group = "校验", order = 1003)
 	public void pushOneAndRemove(ConsumableGroup PBCh, IncubatorPos incubatorPos) throws AppException {
-		reactionPlatesTransmitCtrlService.pushPlateQuick(PBCh, incubatorPos);
-		reactionPlatesTransmitCtrlService.pullPlate(incubatorPos);
-		reactionPlatesTransmitCtrlService.dropPlate();
+		plateBoxCtrlService.pushPlateQuick(PBCh, incubatorPos);
+		optScanModule.pullPlate(incubatorPos);
+		optScanModule.dropPlate();
 	}

 	@ExtApiFn(name = "反应板.推所有丢所有", group = "校验", order = 1004)
--- a/src/main/java/a8k/service/app/devicectrl/calibration/TubeFeedingModulePosCalibration.java
+++ b/src/main/java/a8k/service/app/devicectrl/calibration/TubeFeedingModulePosCalibration.java
@ -4,13 +4,12 @@ import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
 import a8k.extapi_controler.utils.ExtApiFn;
 import a8k.extapi_controler.utils.ExtApiTab;
 import a8k.hardware.A8kCanBusService;
-import a8k.service.app.devicectrl.driver.MiniServoDriver;
 import a8k.service.app.devicectrl.driver.StepMotorCtrlDriver;
 import a8k.service.app.devicectrl.exdriver.MotorEnableExDriver;
 import a8k.service.app.devicectrl.exdriver.MotorMoveZeroExDriver;
 import a8k.service.app.devicectrl.exdriver.TubeTransportExDriver;
 import a8k.service.app.devicectrl.driver.type.StepMotorMId;
-import a8k.service.app.devicectrl.ctrlservice.TubeTubeFeedingCtrlService;
+import a8k.service.app.devicectrl.ctrlservice.TubeFeedingCtrlService;
 import a8k.service.app.devicectrl.param.TubeFeedingModuleParamMgr;
 import a8k.service.db.type.Parameter;
 import a8k.type.TubeFeedingModulePos;
@ -32,11 +31,11 @@ public class TubeFeedingModulePosCalibration {
 	TubeFeedingModuleParamMgr tubeScanPosMgr;

 	@Resource
-	A8kCanBusService           canBus;
+	A8kCanBusService       canBus;
 	@Resource
-	TubeTubeFeedingCtrlService tubeTubeFeedingCtrlService;
+	TubeFeedingCtrlService tubeFeedingCtrlService;
 	@Resource
-	TubeTransportExDriver      tubeTransportExDriver;
+	TubeTransportExDriver  tubeTransportExDriver;
 	@Resource
 	StepMotorCtrlDriver        stepMotorCtrlDriver;
 	@Resource
@ -141,13 +140,13 @@ public class TubeFeedingModulePosCalibration {

 	@ExtApiFn(name = "扫描试管架", group = "校验", order = 400)
 	public TubeHolderScanResult calibrateScanTubeHolder() throws AppException {
-		TubeHolderScanResult result = tubeTubeFeedingCtrlService.scanTubeHodler();
-		tubeTubeFeedingCtrlService.ejectTubeHolder();
+		TubeHolderScanResult result = tubeFeedingCtrlService.scanTubeHodler();
+		tubeFeedingCtrlService.ejectTubeHolder();
 		return result;
 	}

 	@ExtApiFn(name = "移动试管到预处理位置", group = "校验", order = 401)
 	public void calibrateMoveTubeToPreProcessPos(Integer tubeIndex0To9) throws AppException {
-		tubeTubeFeedingCtrlService.moveTubeToPreProcessPos(tubeIndex0To9);
+		tubeFeedingCtrlService.moveTubeToPreProcessPos(tubeIndex0To9);
 	}
 }
--- a/src/main/java/a8k/service/app/devicectrl/ctrlservice/DeviceInitCtrlService.java
+++ b/src/main/java/a8k/service/app/devicectrl/ctrlservice/DeviceInitCtrlService.java
@ -3,9 +3,12 @@ package a8k.service.app.devicectrl.ctrlservice;
 import a8k.hardware.A8kCanBusService;
 import a8k.hardware.type.a8kcanprotocol.IOId;
 import a8k.service.app.devicectrl.driver.MiniServoDriver;
+import a8k.service.app.devicectrl.driver.PipetteCtrlDriver;
 import a8k.service.app.devicectrl.driver.StepMotorCtrlDriver;
 import a8k.service.app.devicectrl.driver.type.MiniServoMId;
 import a8k.service.app.devicectrl.driver.type.StepMotorMId;
+import a8k.service.app.devicectrl.exdriver.MotorEnableExDriver;
+import a8k.service.app.devicectrl.script.DeviceCtrlScripter;
 import a8k.service.bases.ActionReactorService;

 import a8k.service.test.state.TestStateMgrService;
@ -31,18 +34,35 @@ public class DeviceInitCtrlService {
 	@Resource
 	TestStateMgrService testStateMgrService;
 	@Resource
-	VirtualDevice virtualDevice;
+	VirtualDevice       virtualDevice;

 	@Resource
 	ActionReactorService actionReactor;
+
+	@Resource
+	A8kCanBusService canBus;
+
+	@Resource
+	HbotDriver          hbotDriver;
+	@Resource
+	MiniServoDriver     miniServoDriver;
+	@Resource
+	StepMotorCtrlDriver stepMotorCtrlDriver;
+	@Resource
+	PipetteCtrlDriver   pipetteCtrlDriver;
+
 	@Resource
-	A8kCanBusService     canBus;
+	MotorEnableExDriver motorEnableExDriver;
+
+	@Resource
+	TurnableMoveCtrlService turnableMoveCtrlService;
 	@Resource
-	HbotDriver           hbotDriver;
+	TubeFeedingCtrlService  tubeFeedingCtrlService;
 	@Resource
-	MiniServoDriver      miniServoDriver;
+	HbotCtrlService         hbotCtrlService;
 	@Resource
-	StepMotorCtrlDriver  stepMotorCtrlDriver;
+	DeviceCtrlScripter      deviceCtrlScripter;
+

 	Integer          actionOvertime = 10000;
 	List<Checkpoint> checkPoints    = new ArrayList<>();
@ -64,26 +84,10 @@ public class DeviceInitCtrlService {
 	}


-	public List<CheckResult> checkBeforeInitDevice() throws AppException {
-		List<CheckResult> results = new java.util.ArrayList<>();
-		for (Checkpoint checkPoint : checkPoints) {
-			CheckResult result = new CheckResult();
-			result.type       = checkPoint.type;
-			result.typechinfo = checkPoint.typechinfo;
-			if (!testStateMgrService.isVirtualDeviceEnable()) {
-				result.pass = checkPoint.checkfn.check();
-			} else {
-				result.pass = true;
-			}
-			results.add(result);
-		}
-		return results;
-	}
+	List<CheckResult> doDeviceMoveToZero() throws AppException {
+		motorEnableExDriver.enableAllMotor();

-	//
-	public List<CheckResult> deviceMoveToZero() throws AppException {
 		List<CheckResult> results = checkBeforeInitDevice();
-
 		if (testStateMgrService.isVirtualDeviceEnable()) {
 			virtualDevice.doVirtualThings("初始化设备", 3);
 			gstate.setDeviceInited(true);
@ -95,7 +99,9 @@ public class DeviceInitCtrlService {
 				return results;
 			}
 		}
-
+		//HBot初始化
+		actionReactor.dosome("HbotZ轴回零", () -> pipetteCtrlDriver.zMotorMoveZeroBlock());
+		actionReactor.dosome("HBot回零", () -> hbotDriver.moveToZeroBlock());
 		//进出料初始化
 		actionReactor.dosome("入料平移电机回零", () -> stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.FeedingModXM, actionOvertime));
 		actionReactor.dosome("摇匀模组-扫码夹紧舵机回零", () -> miniServoDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModTubeScanerClampingSV));
@ -111,12 +117,56 @@ public class DeviceInitCtrlService {
 		//光学模组初始化
 		actionReactor.dosome("光学模组-拉杆电机回零", () -> stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.OptModPullM, actionOvertime));
 		actionReactor.dosome("光学模组-扫码电机回零", () -> stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.OptModScannerM, actionOvertime));
-		//HBot初始化
-		actionReactor.dosome("HBot回零", () -> hbotDriver.moveToZeroBlock());
 		//转盘归零
 		actionReactor.dosome("转盘回零", () -> stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.IncubatorRotateCtrlM, actionOvertime));
+
+
 		gstate.setDeviceInited(true);
 		return results;
 	}

+
+	public List<CheckResult> checkBeforeInitDevice() throws AppException {
+		List<CheckResult> results = new java.util.ArrayList<>();
+		for (Checkpoint checkPoint : checkPoints) {
+			CheckResult result = new CheckResult();
+			result.type       = checkPoint.type;
+			result.typechinfo = checkPoint.typechinfo;
+
+			//
+			if (testStateMgrService.isVirtualDeviceEnable()) {
+				result.pass = true;
+			} else {
+				result.pass = checkPoint.checkfn.check();
+			}
+
+			results.add(result);
+		}
+		return results;
+	}
+
+	//
+
+
+	public List<CheckResult> deviceMoveToZero() throws AppException {
+		try {
+			return doDeviceMoveToZero();
+		} catch (AppException e) {
+			motorEnableExDriver.forceDisableAllMotor();
+			throw e;
+		}
+	}
+
+
+	public void clearDevice() throws AppException {
+		//弹出无效物料
+		deviceCtrlScripter.dropAllPlates();
+		//弹出试管架
+		tubeFeedingCtrlService.ejectTubeHolder();
+		//丢弃tip头
+		hbotCtrlService.dropTip();
+		//hbot快速归零
+		hbotCtrlService.moveQuickToZero();
+	}
+
 }
--- a/src/main/java/a8k/service/app/devicectrl/ctrlservice/HbotCtrlService.java
+++ b/src/main/java/a8k/service/app/devicectrl/ctrlservice/HbotCtrlService.java
@ -2,6 +2,7 @@ package a8k.service.app.devicectrl.ctrlservice;

 import a8k.constant.AppConstant;
 import a8k.hardware.type.a8kcanprotocol.A8kEcode;
+import a8k.service.app.devicectrl.driver.HbotDriver;
 import a8k.service.app.devicectrl.exdriver.HbotBaseMoveExDriver;
 import a8k.service.app.devicectrl.driver.PipetteCtrlDriver;
 import a8k.service.app.devicectrl.param.HbotConsumableParamMgr;
@ -13,18 +14,19 @@ import a8k.type.cfg.Pos3d;
 import a8k.type.exception.AppException;
 import a8k.type.type.TipGroup;
 import jakarta.annotation.Resource;
+import lombok.extern.slf4j.Slf4j;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.stereotype.Component;

+@Slf4j
@Component
 public class HbotCtrlService {
-	static Logger logger = LoggerFactory.getLogger(HbotCtrlService.class);

 	@Resource
-	HbotFixedPosParamMgr  hbotFixedPosParamMgr;
+	HbotFixedPosParamMgr   hbotFixedPosParamMgr;
 	@Resource
-	HbotSamplePosParamMgr hbotSamplePosParamMgr;
+	HbotSamplePosParamMgr  hbotSamplePosParamMgr;
 	@Resource
 	HbotConsumableParamMgr hbotConsumableParamMgr;

@ -32,6 +34,8 @@ public class HbotCtrlService {
 	PipetteCtrlDriver    pipetteCtrlDriver;
 	@Resource
 	HbotBaseMoveExDriver hbotBaseMoveExDriver;
+	@Resource
+	HbotDriver           hbotDriver;

 	public void checkTipIndex(TipGroup tipGroup, Integer index) throws AppException {
 		if (index >= AppConstant.TIP_NUM) {
@ -40,7 +44,7 @@ public class HbotCtrlService {
 	}

 	public Boolean takeTip(TipGroup tipGroup, Integer index) throws AppException {
-		logger.info("takeTip groupId:{} index:{}", tipGroup.ordinal(), index);
+		log.info("takeTip groupId:{} index:{}", tipGroup.ordinal(), index);
 		checkTipIndex(tipGroup, index);

 		Pos3d tipPos = hbotConsumableParamMgr.getTipPos(tipGroup, index);
@ -73,6 +77,7 @@ public class HbotCtrlService {
 	}

 	public void dropTip() throws AppException {
+		log.info("丢弃tip");
 		hbotBaseMoveExDriver.hbotMoveTo(hbotFixedPosParamMgr.getDropTipPos());
 		pipetteCtrlDriver.putTipBlock();
 	}
@ -107,5 +112,11 @@ public class HbotCtrlService {
 	}


+	public void moveQuickToZero() throws AppException {
+		log.info("Hbot快速归零");
+		hbotBaseMoveExDriver.hbotMoveTo(new Pos3d(0, 0, 0));
+		hbotDriver.moveToZeroBlock();
+	}
+

 }
--- a/src/main/java/a8k/service/app/devicectrl/ctrlservice/OptScanModule.java
+++ b/src/main/java/a8k/service/app/devicectrl/ctrlservice/OptScanModule.java
@ -0,0 +1,49 @@
+package a8k.service.app.devicectrl.ctrlservice;
+
+import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
+import a8k.extapi_controler.utils.ExtApiTab;
+import a8k.hardware.A8kCanBusService;
+import a8k.service.app.devicectrl.driver.StepMotorCtrlDriver;
+import a8k.service.app.devicectrl.driver.type.StepMotorMId;
+import a8k.service.app.devicectrl.param.OptModuleParamsMgr;
+import a8k.service.app.devicectrl.param.PlatesBoxPosParamMgr;
+import a8k.service.app.devicectrl.param.TurntablePosParamMgr;
+import a8k.service.bases.ActionReactorService;
+import a8k.type.IncubatorPos;
+import a8k.type.exception.AppException;
+import jakarta.annotation.Resource;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+@Component
+@Slf4j
+@ExtApiTab(cfg = ExtApiTabConfig.ReactionPlatesTransmitCtrl)
+public class OptScanModule {
+	static final Integer overtime = 10000;
+
+
+	@Resource
+	StepMotorCtrlDriver  stepMotorCtrlDriver;
+	@Resource
+	ActionReactorService actionReactor;
+
+	@Resource
+	OptModuleParamsMgr      optModuleParamsMgr;
+	@Resource
+	TurnableMoveCtrlService turnableMoveCtrlService;
+
+
+	public void pullPlate(IncubatorPos turntablePosIndex) throws AppException {
+		turnableMoveCtrlService.trunableMoveToPullPos(turntablePosIndex);
+		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.OptModScannerM, optModuleParamsMgr.getOptScanerScandbyPos(), overtime);
+		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.OptModPullM, optModuleParamsMgr.getPullerTargetPos(), overtime);
+		stepMotorCtrlDriver.stepMotorEasyMoveToZeroPointQuickBlock(StepMotorMId.OptModPullM, overtime);
+	}
+
+	public void dropPlate() throws AppException {
+		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.OptModScannerM, optModuleParamsMgr.getOptScanerDropPos(), overtime);
+		stepMotorCtrlDriver.stepMotorEasyMoveToZeroPointQuickBlock(StepMotorMId.OptModScannerM, overtime);
+		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.OptModScannerM, optModuleParamsMgr.getOptScanerScandbyPos(), overtime);
+	}
+
+}
--- a/src/main/java/a8k/service/app/devicectrl/ctrlservice/PipetteGunCtrlService.java
+++ b/src/main/java/a8k/service/app/devicectrl/ctrlservice/PipetteGunCtrlService.java
@ -1,7 +1,12 @@
 package a8k.service.app.devicectrl.ctrlservice;


+import a8k.service.app.devicectrl.driver.PipetteCtrlDriver;
+import a8k.service.app.devicectrl.exdriver.HbotBaseMoveExDriver;
+import a8k.type.exception.AppException;
 import jakarta.annotation.PostConstruct;
+import jakarta.annotation.Resource;
+import lombok.extern.slf4j.Slf4j;
 import org.slf4j.Logger;
 import org.springframework.stereotype.Component;

@ -13,18 +18,23 @@ import org.springframework.stereotype.Component;
 */

@Component
+@Slf4j
 public class PipetteGunCtrlService {
-	static Logger logger = org.slf4j.LoggerFactory.getLogger(PipetteGunCtrlService.class);

-	public Integer a;
+	@Resource
+	PipetteCtrlDriver    pipetteCtrlDriver;
+	@Resource
+	HbotBaseMoveExDriver hbotBaseMoveExDriver;
+	@Resource
+	HbotCtrlService      hbotCtrlService;
+

 	@PostConstruct
 	void init() throws NoSuchMethodException {
 		System.out.println("PipetteGunCtrlService init");
 	}
+	//

-	//取样

-	//

 }
--- a/src/main/java/a8k/service/app/devicectrl/ctrlservice/PlateBoxCtrlService.java
+++ b/src/main/java/a8k/service/app/devicectrl/ctrlservice/PlateBoxCtrlService.java
@ -0,0 +1,50 @@
+package a8k.service.app.devicectrl.ctrlservice;
+
+import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
+import a8k.extapi_controler.utils.ExtApiTab;
+import a8k.hardware.A8kCanBusService;
+import a8k.hardware.type.a8kcanprotocol.A8kEcode;
+import a8k.hardware.type.a8kcanprotocol.IOId;
+import a8k.service.app.devicectrl.driver.StepMotorCtrlDriver;
+import a8k.service.app.devicectrl.driver.type.StepMotorMId;
+import a8k.service.app.devicectrl.param.OptModuleParamsMgr;
+import a8k.service.app.devicectrl.param.PlatesBoxPosParamMgr;
+import a8k.service.app.devicectrl.param.TurntablePosParamMgr;
+import a8k.service.bases.ActionReactorService;
+import a8k.type.ConsumableGroup;
+import a8k.type.IncubatorPos;
+import a8k.type.exception.AppException;
+import freemarker.core.TruncateBuiltinAlgorithm;
+import jakarta.annotation.Resource;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+@Component
+@Slf4j
+@ExtApiTab(cfg = ExtApiTabConfig.ReactionPlatesTransmitCtrl)
+public class PlateBoxCtrlService {
+	static final Integer overtime = 10000;
+
+
+	@Resource
+	StepMotorCtrlDriver  stepMotorCtrlDriver;
+	@Resource
+	ActionReactorService actionReactor;
+
+
+	@Resource
+	PlatesBoxPosParamMgr    platesBoxPosParamMgr;
+	@Resource
+	TurnableMoveCtrlService turnableMoveCtrlService;
+
+
+	public void pushPlateQuick(ConsumableGroup PBCh, IncubatorPos turntablePosIndex) throws AppException {
+		turnableMoveCtrlService.trunableMoveToPushPos(turntablePosIndex);
+		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.PlatesBoxYM, platesBoxPosParamMgr.getChXPos(PBCh.off), overtime);
+		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.PlatesBoxPusherM, platesBoxPosParamMgr.getPushEndXPos(), overtime);
+		stepMotorCtrlDriver.stepMotorEasyMoveToZeroPointQuickBlock(StepMotorMId.PlatesBoxPusherM, overtime);
+		stepMotorCtrlDriver.stepMotorEasyMoveToZeroPointQuickBlock(StepMotorMId.PlatesBoxYM, overtime);
+	}
+
+
+}
--- a/src/main/java/a8k/service/app/devicectrl/ctrlservice/TubeTubeFeedingCtrlService.java
+++ b/src/main/java/a8k/service/app/devicectrl/ctrlservice/TubeTubeFeedingCtrlService.java
@ -28,8 +28,8 @@ import org.springframework.stereotype.Component;

@Component
@ExtApiTab(cfg = ExtApiTabConfig.TubeTubeFeedingModule)
-public class TubeTubeFeedingCtrlService {
-	static Logger  logger          = LoggerFactory.getLogger(TubeTubeFeedingCtrlService.class);
+public class TubeFeedingCtrlService {
+	static Logger  logger          = LoggerFactory.getLogger(TubeFeedingCtrlService.class);
 	static Integer infeedOvertime  = 10000;
 	static Integer outfeedOvertime = 10000;
 	static Integer scanOvertime    = 3000;
@ -48,16 +48,15 @@ public class TubeTubeFeedingCtrlService {
 	@Resource
 	A8kCanBusService          canBus;
 	@Resource
-	TubeFeedingModuleParamMgr  stp;
+	TubeFeedingModuleParamMgr stp;
 	@Resource
-	CodeScanerExDriver    codeScaner;
+	CodeScanerExDriver        codeScaner;
 	@Resource
-	TubeTransportExDriver tubeTransportExDriver;
+	TubeTransportExDriver     tubeTransportExDriver;
 	@Resource
-	MiniServoDriver       miniServoDriver;
+	MiniServoDriver           miniServoDriver;
 	@Resource
-	StepMotorCtrlDriver   stepMotorCtrlDriver;
-
+	StepMotorCtrlDriver       stepMotorCtrlDriver;


 	private Boolean isTubeExist() throws AppException {
@ -163,6 +162,7 @@ public class TubeTubeFeedingCtrlService {

 	@ExtApiFn(name = "出料", group = "单步", order = ORDER.moveTubeRackToExitPos)
 	public void ejectTubeHolder() throws AppException {
+		logger.info("弹出试管架");
 		moveTubeRackToExitPos();
 		try {
 			stepMotorCtrlDriver.stepMotorEasyRotate(StepMotorMId.FeedingModOutfeedM, 1);
@ -232,7 +232,7 @@ public class TubeTubeFeedingCtrlService {
 	 */
 	@ExtApiFn(name = "判断<试管N>高低", group = "单步-其他", order = ORDER.moveTubeToAltitJudgXPos)
 	public Boolean moveAndJudgeTubeAltit(Integer tubeIndex) throws AppException {
-		tubeTransportExDriver.moveTubeRackTo(stp.getTubeAltitJudgPos(tubeIndex) , TargetPosMeasureDirection.NEGATIVE, false);
+		tubeTransportExDriver.moveTubeRackTo(stp.getTubeAltitJudgPos(tubeIndex), TargetPosMeasureDirection.NEGATIVE, false);
 		return isHighTube();
 	}

--- a/src/main/java/a8k/service/app/devicectrl/ctrlservice/TubePreProcesCtrlService.java
+++ b/src/main/java/a8k/service/app/devicectrl/ctrlservice/TubePreProcesCtrlService.java
@ -13,20 +13,25 @@ import a8k.hardware.type.a8kcanprotocol.A8kEcode;
 import a8k.hardware.type.a8kcanprotocol.MId;
 import a8k.utils.ZEQ;
 import jakarta.annotation.Resource;
+import lombok.extern.slf4j.Slf4j;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.stereotype.Component;


@Component
+@Slf4j
 public class TubePreProcesCtrlService {
-	static Logger  logger         = LoggerFactory.getLogger(TubePreProcesCtrlService.class);
 	static Integer actionOvertime = 10000;

-	@Resource
-	A8kCanBusService            canBus;
-	@Resource
-	TubePreProcesPosParamMgr    tubePreProcesPosParamMgr;
+	enum PROGRESS {
+		IDLE,
+		TAKE_TUBE,
+		SHAKE_TUBE,
+		TAKE_CAP,
+		PUT_BAK_TUBE,
+	}
+
 	@Resource
 	MiniServoDriver             miniServoDriver;
 	@Resource
@ -37,12 +42,15 @@ public class TubePreProcesCtrlService {
 	//  PRIVATE
 	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++

+	PROGRESS progress = PROGRESS.IDLE;
+	Boolean  isHTube  = false;


 	/**
 	 * 取试管帽,并放置在摇匀位
 	 */
 	public void takeTubeFromTubeholderToShakePos(Boolean isHTube) throws AppException {
+		this.isHTube = isHTube;
 		/*
 		 *  校验:
 		 *		1.当前摇匀模组设计到的电机是否都处于待机位
@ -93,10 +101,12 @@ public class TubePreProcesCtrlService {
 		tubePreProcesModuleExDriver.zMotorMoveToZeroQuick();
 		//Y轴移动到零位
 		tubePreProcesModuleExDriver.YSVMoveToStandyPos();
+		progress = PROGRESS.TAKE_TUBE;
 	}

 	public void shakeTube(Integer shakeDegree, Integer times) throws AppException {
 		tubePreProcesModuleExDriver.shakeMShake(shakeDegree, times);
+		progress = PROGRESS.SHAKE_TUBE;
 	}

 	public void takeTubeCap(Boolean isHTube) throws AppException {
@ -110,6 +120,11 @@ public class TubePreProcesCtrlService {
 		tubePreProcesModuleExDriver.zMotorMoveToZeroQuick();
 		//Y移动到待机位
 		tubePreProcesModuleExDriver.YSVMoveToStandyPos();
+		progress = PROGRESS.TAKE_CAP;
+	}
+
+	public void putBakTube() {
+
 	}

 	public void putbakTubeCapAndPutbakTubeToTubeHolder(Boolean isHTube) throws AppException {
@ -122,7 +137,7 @@ public class TubePreProcesCtrlService {
 		tubePreProcesModuleExDriver.clampingMReleaseTube();
 		//Z轴上移动到零位
 		tubePreProcesModuleExDriver.zMotorMoveToZeroQuick();
-		//Y轴移动到零位
+		//Y轴移动到取试管的位置
 		tubePreProcesModuleExDriver.YSVMoveToTakeTubePos();
 		//移动到放试管的位置
 		tubePreProcesModuleExDriver.zMotorMoveToTakeHBakTubePos(isHTube);
@ -130,5 +145,40 @@ public class TubePreProcesCtrlService {
 		tubePreProcesModuleExDriver.gripperSVOpen();
 		//设备快速归零
 		tubePreProcesModuleExDriver.moveToZeroQuick();
+		progress = PROGRESS.PUT_BAK_TUBE;
+	}
+
+	public void resteModule() throws AppException {
+
+		if (progress.equals(PROGRESS.IDLE)) {
+			return;
+		} else if (progress.equals(PROGRESS.TAKE_TUBE) || progress.equals(PROGRESS.SHAKE_TUBE)) {
+			//Y移动到取试管帽位置
+			tubePreProcesModuleExDriver.YSVMoveToShakePos();
+			//Z下移动到取试管帽位置
+			tubePreProcesModuleExDriver.zMotorMoveToShakeTubePos();
+			//闭合夹爪
+			tubePreProcesModuleExDriver.gripperSVClampTube();
+			//释放试管
+			tubePreProcesModuleExDriver.clampingMReleaseTube();
+			//Z上移动到零位
+			tubePreProcesModuleExDriver.zMotorMoveToZeroQuick();
+			//Y轴移动到取试管的位置
+			tubePreProcesModuleExDriver.YSVMoveToTakeTubePos();
+			//移动到放试管的位置
+			tubePreProcesModuleExDriver.zMotorMoveToTakeHBakTubePos(isHTube);
+			//打开夹爪
+			tubePreProcesModuleExDriver.gripperSVOpen();
+			//设备快速归零
+			tubePreProcesModuleExDriver.moveToZeroQuick();
+			progress = PROGRESS.IDLE;
+		} else if (progress.equals(PROGRESS.TAKE_CAP)) {
+			putbakTubeCapAndPutbakTubeToTubeHolder(isHTube);
+			progress = PROGRESS.IDLE;
+			return;
+		} else if (progress.equals(PROGRESS.PUT_BAK_TUBE)) {
+			progress = PROGRESS.IDLE;
+			return;
+		}
 	}
 }
--- a/src/main/java/a8k/service/app/devicectrl/ctrlservice/ReactionPlatesTransmitCtrlService.java
+++ b/src/main/java/a8k/service/app/devicectrl/ctrlservice/ReactionPlatesTransmitCtrlService.java
@ -7,6 +7,7 @@ import a8k.service.app.devicectrl.driver.type.StepMotorMId;
 import a8k.service.app.devicectrl.param.OptModuleParamsMgr;
 import a8k.service.app.devicectrl.param.PlatesBoxPosParamMgr;
 import a8k.service.app.devicectrl.param.TurntablePosParamMgr;
+import a8k.service.bases.ActionReactorService;
 import a8k.type.ConsumableGroup;
 import a8k.type.IncubatorPos;
 import a8k.type.exception.AppException;
@ -15,26 +16,23 @@ import a8k.hardware.type.a8kcanprotocol.A8kEcode;
 import a8k.hardware.type.a8kcanprotocol.IOId;

 import jakarta.annotation.Resource;
-import org.slf4j.Logger;
-import org.slf4j.LoggerFactory;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;

@Component
+@Slf4j
@ExtApiTab(cfg = ExtApiTabConfig.ReactionPlatesTransmitCtrl)
-public class ReactionPlatesTransmitCtrlService {
-	static       Logger  logger   = LoggerFactory.getLogger(ReactionPlatesTransmitCtrlService.class);
+public class TurnableMoveCtrlService {
 	static final Integer overtime = 10000;


 	@Resource
-	A8kCanBusService    canBus;
+	A8kCanBusService     canBus;
 	@Resource
-	StepMotorCtrlDriver stepMotorCtrlDriver;
-
-	@Resource
-	PlatesBoxPosParamMgr platesBoxPosParamMgr;
+	StepMotorCtrlDriver  stepMotorCtrlDriver;
 	@Resource
-	OptModuleParamsMgr   optModuleParamsMgr;
+	ActionReactorService actionReactor;
+
 	@Resource
 	TurntablePosParamMgr turntablePosParamMgr;

@ -42,26 +40,26 @@ public class ReactionPlatesTransmitCtrlService {
 	private void checkBeforeMoveTrunable() throws AppException {
 		//板夹仓卡板检测
 		if (canBus.getIOState(IOId.PlateBoxPlateStuckPPS)) {
-			logger.error("PlateBoxPlateStuckPPS is trigger");
+			log.error("PlateBoxPlateStuckPPS is trigger");
 			throw new AppException(A8kEcode.APPE_PLATE_STUCK_DETECTOR_SENSOR_TRIGGER);
 		}

 		//检查钩板电机是否处于终点位置
 		if (!canBus.getIOState(IOId.PullerMZeroPPS)) {
-			logger.error("PullerM is not in zero pos");
+			log.error("PullerM is not in zero pos");
 			throw new AppException(A8kEcode.APPE_PULLERM_INIT_POS_ERROR);
 		}

 		//检查板夹仓光电是否处于起点位置
 		if (!canBus.getIOState(IOId.PusherMZeroPPS)) {
-			logger.error("PusherM is not in zero pos");
+			log.error("PusherM is not in zero pos");
 			throw new AppException(A8kEcode.APPE_PUSHERM_INIT_POS_ERROR);
 		}
 	}

 	private void checkBeforeMovePlateBox() throws AppException {
 		if (!canBus.getIOState(IOId.PusherMZeroPPS)) {
-			logger.error("PusherM is not in zero pos ");
+			log.error("PusherM is not in zero pos ");
 			throw new AppException(A8kEcode.APPE_PUSHERM_INIT_POS_ERROR);
 		}
 	}
@ -105,30 +103,4 @@ public class ReactionPlatesTransmitCtrlService {
 	}


-	public void pushPlateQuick(ConsumableGroup PBCh, IncubatorPos turntablePosIndex) throws AppException {
-		trunableMoveToPushPos(turntablePosIndex);
-		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.PlatesBoxYM, platesBoxPosParamMgr.getChXPos(PBCh.off), overtime);
-		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.PlatesBoxPusherM, platesBoxPosParamMgr.getPushEndXPos(), overtime);
-		stepMotorCtrlDriver.stepMotorEasyMoveToZeroPointQuickBlock(StepMotorMId.PlatesBoxPusherM, overtime);
-		stepMotorCtrlDriver.stepMotorEasyMoveToZeroPointQuickBlock(StepMotorMId.PlatesBoxYM, overtime);
-	}
-
-	public void pullPlate(IncubatorPos turntablePosIndex) throws AppException {
-		trunableMoveToPullPos(turntablePosIndex);
-		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.OptModScannerM, optModuleParamsMgr.getOptScanerScandbyPos(), overtime);
-		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.OptModPullM, optModuleParamsMgr.getPullerTargetPos(), overtime);
-		//		if (!canBus.getIOState(IOId.PullerMEndPPS)) {
-		//			logger.error("pull plate fail");
-		//			throw new AppException(A8kEcode.APPE_PULL_PLATE_FAIL);
-		//		}
-		stepMotorCtrlDriver.stepMotorEasyMoveToZeroPointQuickBlock(StepMotorMId.OptModPullM, overtime);
-	}
-
-	public void dropPlate() throws AppException {
-		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.OptModScannerM, optModuleParamsMgr.getOptScanerDropPos(), overtime);
-		stepMotorCtrlDriver.stepMotorEasyMoveToZeroPointQuickBlock(StepMotorMId.OptModScannerM, overtime);
-		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.OptModScannerM, optModuleParamsMgr.getOptScanerScandbyPos(), overtime);
-	}
-
-
 }
--- a/src/main/java/a8k/service/app/devicectrl/driver/PipetteCtrlDriver.java
+++ b/src/main/java/a8k/service/app/devicectrl/driver/PipetteCtrlDriver.java
@ -130,7 +130,7 @@ public class PipetteCtrlDriver {


 	@ExtApiFn(name = "初始化设备", order = FnOrder.initDeviceBlock)
-	public void pipetteInitDeviceBlock() throws AppException {
+	private void pipetteInitDeviceBlock() throws AppException {
 		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_init_device.toInt());
 		canBusService.waitForMod(MId.PipetteMod, overtime);
 	}
--- a/src/main/java/a8k/service/app/devicectrl/exdriver/HbotBaseMoveExDriver.java
+++ b/src/main/java/a8k/service/app/devicectrl/exdriver/HbotBaseMoveExDriver.java
@ -81,6 +81,7 @@ public class HbotBaseMoveExDriver {
 		hbotMoveTo(new Pos3d(tpos.x, tpos.y, 0));
 	}

+
 	//	public String scan2dCode(Integer waittime) throws AppException {
 	//		try {
 	//			canBus.codeScanerStartScan(MId.PipetteModCodeScanner);
--- a/src/main/java/a8k/service/app/devicectrl/exdriver/MotorEnableExDriver.java
+++ b/src/main/java/a8k/service/app/devicectrl/exdriver/MotorEnableExDriver.java
@ -84,7 +84,7 @@ public class MotorEnableExDriver {
 		try {
 			hbotDriver.enable(0);
 		} catch (AppException e) {
-			log.info("hbotDriver disable failed, {}",  e.getMessage());
+			log.info("hbotDriver disable failed, {}", e.getMessage());
 		}

 		try {
@ -94,5 +94,18 @@ public class MotorEnableExDriver {
 		}
 	}

+	public void enableAllMotor() throws AppException {
+		for (StepMotorMId stepMotorMId : StepMotorMId.values()) {
+			stepMotorCtrlDriver.stepMotorEnable(stepMotorMId, 1);
+		}
+
+		for (MiniServoMId miniServoMId : MiniServoMId.values()) {
+			miniServoDriver.miniServoEnable(miniServoMId, 1);
+		}
+
+		hbotDriver.enable(1);
+		pipetteCtrlDriver.zMotorEnable(1);
+	}
+

 }
--- a/src/main/java/a8k/service/app/devicectrl/script/DeviceCtrlScripter.java
+++ b/src/main/java/a8k/service/app/devicectrl/script/DeviceCtrlScripter.java
@ -0,0 +1,30 @@
+package a8k.service.app.devicectrl.script;
+
+import a8k.service.app.devicectrl.ctrlservice.OptScanModule;
+import a8k.service.bases.ActionReactorService;
+import a8k.type.IncubatorPos;
+import a8k.type.exception.AppException;
+import jakarta.annotation.Resource;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+@Component
+@Slf4j
+public class DeviceCtrlScripter {
+
+	@Resource
+	ActionReactorService actionReactor;
+
+	@Resource
+	OptScanModule optScanModule;
+
+
+	public void dropAllPlates() throws AppException {
+		log.info("清空孵育盘");
+		actionReactor.dosome("丢板", () -> optScanModule.dropPlate());
+		for (var incubatorPos : IncubatorPos.values()) {
+			actionReactor.dosome("拉板" + incubatorPos.name(), () -> optScanModule.pullPlate(incubatorPos));
+			actionReactor.dosome("丢板", () -> optScanModule.dropPlate());
+		}
+	}
+}