update

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

@@ -50,6 +50,18 @@ public class HbotMoveCtrlService {
 		hbotDriver.enable(enable);
 	}
 
+	/**
+	 * 移动到观察位置(为了校准使用，Z轴不归零)
+	 * @param targetPos
+	 * @param zpos
+	 * @throws AppException
+	 */
+	public void moveToObservationPos(Pos2d targetPos, Integer zpos) throws AppException {
+		logger.info("hbot move to observation pos:{}", targetPos);
+		hbotDriver.moveToBlock(targetPos.x, targetPos.y);
+		pipetteCtrlDriver.zMotorMoveToBlock(zpos);
+	}
+
 
 	public void hbotMoveTo(Pos3d targetPos) throws AppException {
 		logger.info("hbot move to:{}", targetPos);

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

@@ -1,5 +1,6 @@
 package a8k.app.service.lowerctrl;
 
+import a8k.app.constant.GearBacklashConstant;
 import a8k.app.service.param.hbotpos.Hbot2DCodeScanParamMgr;
 import a8k.app.type.a8k.ConsumableGroup;
 import a8k.app.type.a8k.pos.TipGroupPos;
@@ -58,6 +59,21 @@ public class HbotMoveExCtrlService {
 		pipetteCtrlDriver.zMotorMoveToZeroPointQuickBlock();
 	}
 
+	public void moveToTakeTipObservationPos(TipGroupPos tipGroupPos, Integer index, Integer zpos) throws AppException {
+		log.info("moveToTakeTipObservationPos groupId:{} index:{}", tipGroupPos.ordinal(), index);
+
+		Pos3d tipPos = hbotConsumableExParamMgr.getTipPos(tipGroupPos, index);
+		tipPos.z = zpos;
+		Pos3d nowPos = getPos();
+		if (nowPos.z.equals(tipPos.z)) {
+			hbotDriver.moveToBlock(tipPos.x - GearBacklashConstant.HBOT_GEAR_BACKLASH, tipPos.y);
+			hbotDriver.moveToBlock(tipPos.x, tipPos.y);
+			return;
+		} else {
+			hbotMoveCtrlService.hbotMoveTo(tipPos);
+		}
+	}
+
 	public void zAxisMoveToBlock(Integer z) throws AppException {
 		pipetteCtrlDriver.zMotorMoveToBlock(z);
 	}
@@ -104,6 +120,7 @@ public class HbotMoveExCtrlService {
 		return pipetteCtrlDriver.isHasTip();
 	}
 
+
 	public void takeTip(TipPos pos) throws AppException {
 		Assert.isTrue(pos != null, "TipPos is null");
 		takeTip(pos.group, pos.index);
@@ -197,6 +214,8 @@ public class HbotMoveExCtrlService {
 		hbotMoveCtrlService.hbotMoveTo(hbotConsumableExParamMgr.getLittleBufferSamplePos(group, off));
 	}
 
+
+
 	//	public void moveToProbeSubstanceSamplePos(ConsumableGroup group, Integer off) throws AppException {
 	//		hbotBaseMoveExDriver.hbotMoveTo(hbotConsumableParamMgr.getProbeSubstanceSamplePos(group, off));
 	//	}

src/main/java/a8k/extui/controler/ExtApiControler.java

@@ -24,7 +24,7 @@ import java.lang.reflect.Modifier;
 import java.util.ArrayList;
 import java.util.HashMap;
 import java.util.List;
-import java.util.Map;
+import java.util.Map;  
 
 @Slf4j
 @Controller

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

@@ -154,18 +154,18 @@ public class HbotCtrlPage {
 		page.addFunction("后", this::moveBackward);
 		page.addFunction("左", this::moveLeft);
 		page.addFunction("右", this::moveRight);
-		page.addFunction("移动到", this::moveTo).setParamVal("x", 0).setParamVal("y", 0);
+		page.addFunction("移动到", this::moveTo).setParamVal("x", ()->0).setParamVal("y",()-> 0);
 
 		page.newGroup("Z轴");
 		page.addFunction("设置Z轴相对移动距离", this::setzMotorMoveByDistance).setParamVal("distance", () -> zMotorMoveByDistance);
 		page.addFunction("上", this::zmoveUp);
 		page.addFunction("下", this::zmoveDown);
-		page.addFunction("移动到", this::zMotorMoveTo).setParamVal("z", 0);
+		page.addFunction("移动到", this::zMotorMoveTo).setParamVal("z", ()->0);
 
 		page.newGroup("移动到");
 		page.addFunction("移动到", this::measurementMoveTo);
 		page.addFunction("移动到", this::measurementMoveTo);
-		page.addFunction("移动到", this::measurementMoveTo).setParamVal("x", readPosNoEx().x).setParamVal("y", readPosNoEx().y).setParamVal("z", readPosNoEx().z);
+		page.addFunction("移动到", this::measurementMoveTo).setParamVal("x", ()->readPosNoEx().x).setParamVal("y",()-> readPosNoEx().y).setParamVal("z", ()->readPosNoEx().z);
 
 		extApiPageMgr.addPage(page);
 	}

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

@@ -22,7 +22,7 @@ public class OutputIOCtrlDebugPage {
 	@PostConstruct
 	void init() {
 		var page = extApiPageMgr.newPage(this);
-		page.addFunction("废料仓光栅控制", this::setIOState).setParamVal("state", true);
+		page.addFunction("废料仓光栅控制", this::setIOState).setParamVal("state", ()->true);
 		extApiPageMgr.addPage(page);
 	}
 }

src/main/java/a8k/extui/page/extapp/P02A8kTemperaturaVerfication.java

@@ -71,9 +71,9 @@ public class P02A8kTemperaturaVerfication {
 
 		page.newGroup("基础");
 		page.addFunction("设置孵育盘温度偏移", this::setIncubatorBoxTemperatureOff)
-				.setParamVal("offset", temperatureCtrlParamMgr.getParam(TemperatureCtrlParam.IncubatorTCMTempOffset));
+				.setParamVal("offset", ()->temperatureCtrlParamMgr.getParam(TemperatureCtrlParam.IncubatorTCMTempOffset));
 		page.addFunction("设置板夹仓温度偏移", this::setPlatesBoxTCMTempOffset)
-				.setParamVal("offset", temperatureCtrlParamMgr.getParam(TemperatureCtrlParam.PlatesBoxTCMTempOffset));
+				.setParamVal("offset", ()->temperatureCtrlParamMgr.getParam(TemperatureCtrlParam.PlatesBoxTCMTempOffset));
 
 		page.newGroup("操作");
 		page.addFunction("启动温度控制", this::startCtrl);

src/main/java/a8k/extui/page/extapp/debug_assistant/IDCardDataGeneratorPage.java

@@ -69,7 +69,7 @@ public class IDCardDataGeneratorPage {
 	public void init() {
 		var page = extApiPageMgr.newPage(this);
 		page.addFunction("保存当前插入的ID卡信息", this::saveMountedProjInfoCard);
-		page.addFunction("创建并保存ID卡", this::addProjFakeProjInfoCard).setParamVal("projids", "1");
+		page.addFunction("创建并保存ID卡", this::addProjFakeProjInfoCard).setParamVal("projids", ()->"1");
 		page.addFunction("创建并保存ID卡(所有项目)", this::addAllProjFakeProjInfoCard);
 		extApiPageMgr.addPage(page);
 	}

src/main/java/a8k/extui/page/extapp/debug_assistant/VirtualEventGeneratorPage.java

@@ -71,7 +71,7 @@ public class VirtualEventGeneratorPage {
 		ExtUIPageCfg page = new ExtUIPageCfg(this);
 		page.addFunction("构建弹窗事件", this::buildInfoPromoptEvent);
 		page.addFunction("构造消息", this::pushMessageBoxEvent)
-				.setParamVal("info", "测试消息");
+				.setParamVal("info", ()->"测试消息");
 		page.addFunction("构造TubeHolderUpdateEvent", this::pushTubeHolderUpdateEvent);
 		extApiPageMgr.addPage(page);
 	}

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

@@ -39,7 +39,7 @@ public class MoterMoveUtilsPage {
 
 		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);
+		page.addFunction("松开一点", this::unclampALittle).setParamVal("dpos", ()->5);
 
 
 		extApiPageMgr.addPage(page);

src/main/java/a8k/extui/page/extsetting/pos_calibration/P21HbotLittleBSPosCalibrationPage.java

@@ -72,36 +72,36 @@ public class P21HbotLittleBSPosCalibrationPage {
 		var page = extApiPageMgr.newPage(this);
 		page.newGroup("公共");
 		page.addFunction("设置耗材组之间间距", this::setGroupDxAndDy).
-				setParamVal("dx", hbotLittleBSPosMgr.getParam(HbotLittleBSPos.GroupDX, Double.class)).
-				setParamVal("dy", hbotLittleBSPosMgr.getParam(HbotLittleBSPos.GroupDY, Double.class));
+				setParamVal("dx", ()->hbotLittleBSPosMgr.getParam(HbotLittleBSPos.GroupDX, Double.class)).
+				setParamVal("dy", ()->hbotLittleBSPosMgr.getParam(HbotLittleBSPos.GroupDY, Double.class));
 
 		page.newGroup("小瓶缓冲液");
 		page.addFunction("设置G0P0坐标", this::setLittleBufferG0P00).
-				setParamVal("x", hbotLittleBSPosMgr.getParam(HbotLittleBSPos.LittleBufferGroup0_000Pos, Pos2d.class).x).
-				setParamVal("y", hbotLittleBSPosMgr.getParam(HbotLittleBSPos.LittleBufferGroup0_000Pos, Pos2d.class).y);
+				setParamVal("x", ()->hbotLittleBSPosMgr.getParam(HbotLittleBSPos.LittleBufferGroup0_000Pos, Pos2d.class).x).
+				setParamVal("y", ()->hbotLittleBSPosMgr.getParam(HbotLittleBSPos.LittleBufferGroup0_000Pos, Pos2d.class).y);
 		page.addFunction("设置X间距Y间距", this::setLittleBufferDXDY).
-				setParamVal("dx", hbotLittleBSPosMgr.getParam(HbotLittleBSPos.LittleBufferDX, Double.class)).
-				setParamVal("dy", hbotLittleBSPosMgr.getParam(HbotLittleBSPos.LittleBufferDY, Double.class));
+				setParamVal("dx", ()->hbotLittleBSPosMgr.getParam(HbotLittleBSPos.LittleBufferDX, Double.class)).
+				setParamVal("dy", ()->hbotLittleBSPosMgr.getParam(HbotLittleBSPos.LittleBufferDY, Double.class));
 		page.addFunction("设置刺破XY附加距离", this::setLittleBSPierceXYAppendDistance).
-				setParamVal("distance", hbotLittleBSPosMgr.getParam(HbotLittleBSPos.LittleBSPierceXYAppendDistance, Double.class));
-		page.addFunction("设置取样Z坐标", this::setLittleBSSampleZPos).
-				setParamVal("z", hbotLittleBSPosMgr.getParam(HbotLittleBSPos.LittleBSSampleZPos, Integer.class));
-		page.addFunction("设置刺破Z坐标", this::setLittleBSPierceZPos).
-				setParamVal("z", hbotLittleBSPosMgr.getParam(HbotLittleBSPos.LittleBSPierceZPos, Integer.class));
+				setParamVal("distance", ()->hbotLittleBSPosMgr.getParam(HbotLittleBSPos.LittleBSPierceXYAppendDistance, Double.class));
+		page.addFunction("设置[取样]Z坐标", this::setLittleBSSampleZPos).
+				setParamVal("z", ()->hbotLittleBSPosMgr.getParam(HbotLittleBSPos.LittleBSSampleZPos, Integer.class));
+		page.addFunction("设置[刺破]Z坐标", this::setLittleBSPierceZPos).
+				setParamVal("z", ()->hbotLittleBSPosMgr.getParam(HbotLittleBSPos.LittleBSPierceZPos, Integer.class));
 
 		page.newGroup("探测物质");
 		page.addFunction("设置G0P0坐标", this::setProbeSubstanceG0P00).
-				setParamVal("x", hbotLittleBSPosMgr.getParam(HbotLittleBSPos.ProbeSubstanceGroup0_000Pos, Pos2d.class).x).
-				setParamVal("y", hbotLittleBSPosMgr.getParam(HbotLittleBSPos.ProbeSubstanceGroup0_000Pos, Pos2d.class).y);
+				setParamVal("x", ()->hbotLittleBSPosMgr.getParam(HbotLittleBSPos.ProbeSubstanceGroup0_000Pos, Pos2d.class).x).
+				setParamVal("y", ()->hbotLittleBSPosMgr.getParam(HbotLittleBSPos.ProbeSubstanceGroup0_000Pos, Pos2d.class).y);
 		page.addFunction("设置X间距Y间距", this::setProbeSubstanceDXDY).
-				setParamVal("dx", hbotLittleBSPosMgr.getParam(HbotLittleBSPos.ProbeSubstanceDX, Double.class)).
-				setParamVal("dy", hbotLittleBSPosMgr.getParam(HbotLittleBSPos.ProbeSubstanceDY, Double.class));
+				setParamVal("dx", ()->hbotLittleBSPosMgr.getParam(HbotLittleBSPos.ProbeSubstanceDX, Double.class)).
+				setParamVal("dy", ()->hbotLittleBSPosMgr.getParam(HbotLittleBSPos.ProbeSubstanceDY, Double.class));
 		page.addFunction("设置刺破XY附加距离", this::setProbeSubstancePierceXYAppendDistance).
-				setParamVal("distance", hbotLittleBSPosMgr.getParam(HbotLittleBSPos.ProbeSubstancePierceXYAppendDistance, Double.class));
+				setParamVal("distance", ()->hbotLittleBSPosMgr.getParam(HbotLittleBSPos.ProbeSubstancePierceXYAppendDistance, Double.class));
 		page.addFunction("设置取样Z坐标", this::setProbeSubstanceSampleZPos).
-				setParamVal("z", hbotLittleBSPosMgr.getParam(HbotLittleBSPos.ProbeSubstanceSampleZPos, Integer.class));
+				setParamVal("z", ()->hbotLittleBSPosMgr.getParam(HbotLittleBSPos.ProbeSubstanceSampleZPos, Integer.class));
 		page.addFunction("设置刺破Z坐标", this::setProbeSubstancePierceZPos).
-				setParamVal("z", hbotLittleBSPosMgr.getParam(HbotLittleBSPos.ProbeSubstancePierceZPos, Integer.class));
+				setParamVal("z", ()->hbotLittleBSPosMgr.getParam(HbotLittleBSPos.ProbeSubstancePierceZPos, Integer.class));
 
 
 		extApiPageMgr.addPage(page);

src/main/java/a8k/extui/page/extsetting/pos_calibration/P23HbotLargeBottleBSPosCalibrationPage.java

@@ -43,18 +43,18 @@ public class P23HbotLargeBottleBSPosCalibrationPage {
 		var page = extApiPageMgr.newPage(this);
 		page.newGroup("坐标设置");
 		page.addFunction("设置0号耗材坐标", this::setConsumable0Pos)
-				.setParamVal("x", hbotLargeBottleBSPosMgr.getParam(HbotLargeBottleBSPos.LargeBuffer_0Pos, Pos2d.class).x)
-				.setParamVal("y", hbotLargeBottleBSPosMgr.getParam(HbotLargeBottleBSPos.LargeBuffer_0Pos, Pos2d.class).y);
+				.setParamVal("x", ()->hbotLargeBottleBSPosMgr.getParam(HbotLargeBottleBSPos.LargeBuffer_0Pos, Pos2d.class).x)
+				.setParamVal("y", ()->hbotLargeBottleBSPosMgr.getParam(HbotLargeBottleBSPos.LargeBuffer_0Pos, Pos2d.class).y);
 		page.addFunction("设置LLD开始Z轴位置", this::setLLDStartZAxisPos)
-						.setParamVal("z", hbotLargeBottleBSPosMgr.getParam(HbotLargeBottleBSPos.LargeBottleBufferLLDStartZAxisPos, Double.class).intValue());
+						.setParamVal("z", ()->hbotLargeBottleBSPosMgr.getParam(HbotLargeBottleBSPos.LargeBottleBufferLLDStartZAxisPos, Double.class).intValue());
 		page.addFunction("设置瓶底Z轴位置", this::setBottomZAxisPos)
-						.setParamVal("z", hbotLargeBottleBSPosMgr.getParam(HbotLargeBottleBSPos.LargeBottleBufferBottomZAxisPos, Double.class).intValue());
+						.setParamVal("z", ()->hbotLargeBottleBSPosMgr.getParam(HbotLargeBottleBSPos.LargeBottleBufferBottomZAxisPos, Double.class).intValue());
 
 		page.newGroup("常量设置");
 		page.addFunction("设置Dx", this::setConsumableDX)
-				.setParamVal("dx", hbotLargeBottleBSPosMgr.getParam(HbotLargeBottleBSPos.LargeBuffer_DX, Double.class));
+				.setParamVal("dx", ()->hbotLargeBottleBSPosMgr.getParam(HbotLargeBottleBSPos.LargeBuffer_DX, Double.class));
 		page.addFunction("设置Dy", this::setConsumableDY)
-				.setParamVal("dy", hbotLargeBottleBSPosMgr.getParam(HbotLargeBottleBSPos.LargeBuffer_DY, Double.class));
+				.setParamVal("dy", ()->hbotLargeBottleBSPosMgr.getParam(HbotLargeBottleBSPos.LargeBuffer_DY, Double.class));
 
 		extApiPageMgr.addPage(page);
 	}

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

@@ -148,6 +148,17 @@ public class HbotPosMeasurePage {
 		pipetteCtrlDriver.zMotorMoveToBlock(z);
 	}
 
+	public void measurementMoveTo2(Integer bx, Integer by, Double dx, Double dy, Integer xoff, Integer yoff, Integer z) throws AppException {
+		hbotDriver.enable(1);
+		pipetteCtrlDriver.zMotorEnable(1);
+		pipetteCtrlDriver.zMotorMoveToBlock(0);
+		Integer x = bx + (int) (dx * xoff);
+		Integer y = by + (int) (dy * yoff);
+		hbotDriver.moveToBlock(x - GearBacklashConstant.HBOT_GEAR_BACKLASH, y);
+		hbotDriver.moveToBlock(x, y);
+		pipetteCtrlDriver.zMotorMoveToBlock(z);
+	}
+
 
 	@PostConstruct
 	public void init() {
@@ -155,7 +166,7 @@ public class HbotPosMeasurePage {
 
 		page.newGroup("基础");
 		page.addFunction("HBOT归零", this::enableMeasurment);
-		page.addFunction("测量当前位置",this::measurementCurrentPos);
+		page.addFunction("测量当前位置", this::measurementCurrentPos);
 
 		page.newGroup("Hbot");
 		page.addFunction("设置相对移动距离", this::setMoveByDistance).setParamVal("distance", () -> moveByDistance);
@@ -163,13 +174,13 @@ public class HbotPosMeasurePage {
 		page.addFunction("后", this::moveBackward);
 		page.addFunction("左", this::moveLeft);
 		page.addFunction("右", this::moveRight);
-		page.addFunction("移动到", this::moveTo).setParamVal("x", 0).setParamVal("y", 0);
+		page.addFunction("移动到", this::moveTo).setParamVal("x",()-> 0).setParamVal("y",()-> 0);
 
 		page.newGroup("Z轴");
 		page.addFunction("设置Z轴相对移动距离", this::setzMotorMoveByDistance).setParamVal("distance", () -> zMotorMoveByDistance);
 		page.addFunction("上", this::zmoveUp);
 		page.addFunction("下", this::zmoveDown);
-		page.addFunction("移动到", this::zMotorMoveTo).setParamVal("z", 0);
+		page.addFunction("移动到", this::zMotorMoveTo).setParamVal("z",()-> 0);
 
 		page.newGroup("扫码");
 		page.addFunction("打开扫码灯", this::openCodeScanner);
@@ -178,8 +189,7 @@ public class HbotPosMeasurePage {
 
 		page.newGroup("移动到");
 		page.addFunction("移动到", this::measurementMoveTo);
-		page.addFunction("移动到", this::measurementMoveTo);
-		page.addFunction("移动到", this::measurementMoveTo);
+		page.addFunction("移动到", this::measurementMoveTo2);
 
 		extApiPageMgr.addPage(page);
 	}

src/main/java/a8k/extui/page/test/verification/P30InfeedAndPreProcessPosVerificationPage.java

@@ -113,17 +113,17 @@ public class P30InfeedAndPreProcessPosVerificationPage {
 		var page = extApiPageMgr.newPage(this);
 		page.newGroup("入料操作");
 		page.addFunction("入料", this::enterTubeHolder);
-		page.addFunction("移动到[试管]扫描位置,并扫描", this::moveToTubeScanPosAndScan).setParamVal("tubeIndex", 1);
-		page.addFunction("移动到[试管]存在检测位置,并判断", this::moveAndjudgeTubeExist).setParamVal("tubeIndex", 1);
-		page.addFunction("移动到[试管]高低检测位置,并判断", this::moveAndJudgeTubeAltit).setParamVal("tubeIndex", 1);
-		page.addFunction("移动到[试管]预处理位置", this::moveTubeToPreProcessPos).setParamVal("tubeIndex", 1);
+		page.addFunction("移动到[试管]扫描位置,并扫描", this::moveToTubeScanPosAndScan).setParamVal("tubeIndex",()-> 1);
+		page.addFunction("移动到[试管]存在检测位置,并判断", this::moveAndjudgeTubeExist).setParamVal("tubeIndex", ()->1);
+		page.addFunction("移动到[试管]高低检测位置,并判断", this::moveAndJudgeTubeAltit).setParamVal("tubeIndex", ()->1);
+		page.addFunction("移动到[试管]预处理位置", this::moveTubeToPreProcessPos).setParamVal("tubeIndex",()-> 1);
 		page.addFunction("移动到[试管架]扫描位置,并扫描", this::moveToTubeRackScanPosAndScan);
 		page.addFunction("出料", this::ejectTubeFromTubeHolder);
 		page.newGroup("入料操作-脚本");
 		page.addFunction("入料，并扫描试管架和试管，出料", this::scanTubeHolder);
 
 		page.newGroup("预处理校准.单步");
-		page.addFunction("摇匀试管", this::shakeTube).setParamVal("angle", 45).setParamVal("times", 5);
+		page.addFunction("摇匀试管", this::shakeTube).setParamVal("angle", ()->45).setParamVal("times", ()->5);
 		page.newGroup("预处理校准.脚本");
 		page.addFunction("取试管到预处理位", this::takeTubeFromTubeholderToShakePos);
 		page.addFunction("放试管回试管架", this::putTubeBackToTubeHolder);

src/main/java/a8k/extui/page/test/verification/P32HbotPosVerificationPage.java

@@ -19,6 +19,10 @@ public class P32HbotPosVerificationPage {
 		hbotMoveExCtrlService.takeTipNoCheck(tipGroupPos, index);
 	}
 
+	public void moveToTakeTipObservationPos(TipGroupPos tipGroupPos, Integer index, Integer zpos) throws AppException {
+		hbotMoveExCtrlService.moveToTakeTipObservationPos(tipGroupPos, index, zpos);
+	}
+
 	public void takeAndDropTip(TipGroupPos tipGroupPos, Integer index) throws AppException {
 		try {
 			hbotMoveExCtrlService.testTakeTip(tipGroupPos, index);
@@ -34,10 +38,13 @@ public class P32HbotPosVerificationPage {
 		hbotMoveExCtrlService.dropTip();
 	}
 
+
+
 	public void moveToDropLiquidPos() throws AppException {
 		hbotMoveExCtrlService.moveToDropLiquidPos();
 	}
 
+
 	public void moveToLittleBufferPircePos(ConsumableGroup group, Integer off) throws AppException {
 		hbotMoveExCtrlService.moveToLittleBufferPiercePos(group, off);
 	}
@@ -73,6 +80,7 @@ public class P32HbotPosVerificationPage {
 		page.newGroup("TIP");
 		page.addFunction("取Tip", this::takeTip);
 		page.addFunction("取Tip并放回", this::takeAndDropTip);
+		page.addFunction("移动到取Tip观察位", this::moveToTakeTipObservationPos);
 		page.addFunction("丢Tip", this::dropTip);
 		page.addFunction("移动滴液位", this::moveToDropLiquidPos);
 

src/main/java/a8k/extui/type/ExUIFunction.java

@@ -65,12 +65,12 @@ public class ExUIFunction {
 	}
 
 
-	public ExUIFunction setParamVal(String paraName, Object defaultVal) {
-		ExUIParam param = getParam(paraName);
-		Assert.notNull(param, String.format("Can't find param %s in function %s", paraName, keyName));
-		param.initValue = defaultVal;
-		return this;
-	}
+//	public ExUIFunction setParamVal(String paraName, Object defaultVal) {
+//		ExUIParam param = getParam(paraName);
+//		Assert.notNull(param, String.format("Can't find param %s in function %s", paraName, keyName));
+//		param.initValue = defaultVal;
+//		return this;
+//	}
 
 	public ExUIFunction setParamVal(String paraName, ExUIParamGetInitValFnType1 getInitValFn) {
 		ExUIParam param = getParam(paraName);

src/main/java/a8k/extui/type/ExtUIPageCfg.java

@@ -30,8 +30,8 @@ public class ExtUIPageCfg {
 
 
 	void completeParameter(ExUIFunction function) {
-		Class<?> clazz = object.getClass();
-		Method method = findSimilarMethod(object, function.keyName);
+		Class<?> clazz  = object.getClass();
+		Method   method = findSimilarMethod(object, function.keyName);
 		if (function.params.isEmpty()) {
 			for (var parameter : method.getParameters()) {
 				function.addParam(parameter.getName());
@@ -123,6 +123,17 @@ public class ExtUIPageCfg {
 	}
 
 	@FunctionalInterface
+	public interface ExUIFnR1P6<R, T0, T1, T2, T3, T4, T5> extends Serializable {
+		public R fn(T0 p0, T1 p1, T2 p2, T3 p3, T4 p4, T5 p5) throws Exception;
+	}
+
+	@FunctionalInterface
+	public interface ExUIFnR1P7<R, T0, T1, T2, T3, T4, T5, T6> extends Serializable {
+		public R fn(T0 p0, T1 p1, T2 p2, T3 p3, T4 p4, T5 p5, T6 p6) throws Exception;
+	}
+
+
+	@FunctionalInterface
 	public interface ExUIFnR0P0 extends Serializable {
 		public void fn() throws Exception;
 	}
@@ -152,6 +163,15 @@ public class ExtUIPageCfg {
 		public void fn(T0 p0, T1 p1, T2 p2, T3 p3, T4 p4) throws Exception;
 	}
 
+	@FunctionalInterface
+	public interface ExUIFnR0P6<T0, T1, T2, T3, T4, T5> extends Serializable {
+		public void fn(T0 p0, T1 p1, T2 p2, T3 p3, T4 p4, T5 p5) throws Exception;
+	}
+
+	@FunctionalInterface
+	public interface ExUIFnR0P7<T0, T1, T2, T3, T4, T5, T6> extends Serializable {
+		public void fn(T0 p0, T1 p1, T2 p2, T3 p3, T4 p4, T5 p5, T6 p6) throws Exception;
+	}
 
 	public ExUIFunction addFunction(String displayName, ExUIFnR0P0 fn) {
 		return addFunction(groupContext, FieldUtils.getImplMethodName(fn), displayName);
@@ -177,6 +197,14 @@ public class ExtUIPageCfg {
 		return addFunction(groupContext, FieldUtils.getImplMethodName(fn), displayName);
 	}
 
+	public <T0, T1, T2, T3, T4, T5> ExUIFunction addFunction(String displayName, ExUIFnR0P6<T0, T1, T2, T3, T4, T5> fn) {
+		return addFunction(groupContext, FieldUtils.getImplMethodName(fn), displayName);
+	}
+
+	public <T0, T1, T2, T3, T4, T5, T6> ExUIFunction addFunction(String displayName, ExUIFnR0P7<T0, T1, T2, T3, T4, T5, T6> fn) {
+		return addFunction(groupContext, FieldUtils.getImplMethodName(fn), displayName);
+	}
+
 	public <R> ExUIFunction addFunction(String displayName, ExUIFnR1P0<R> fn) {
 		return addFunction(groupContext, FieldUtils.getImplMethodName(fn), displayName);
 	}
@@ -201,4 +229,11 @@ public class ExtUIPageCfg {
 		return addFunction(groupContext, FieldUtils.getImplMethodName(fn), displayName);
 	}
 
+	public <R, T0, T1, T2, T3, T4, T5> ExUIFunction addFunction(String displayName, ExUIFnR1P6<R, T0, T1, T2, T3, T4, T5> fn) {
+		return addFunction(groupContext, FieldUtils.getImplMethodName(fn), displayName);
+	}
+
+	public <R, T0, T1, T2, T3, T4, T5, T6> ExUIFunction addFunction(String displayName, ExUIFnR1P7<R, T0, T1, T2, T3, T4, T5, T6> fn) {
+		return addFunction(groupContext, FieldUtils.getImplMethodName(fn), displayName);
+	}
 }

src/main/resources/db/zapp_a8k_pos_parameter.csv

@@ -1,17 +1,17 @@
 id,service,key,valType,val,chName
-1,Hbot2DCodeScanParamMgr,PBScanPos0,Pos2d,"{""x"":-20,""y"":1504}",板夹仓扫码位置0
-7,Hbot2DCodeScanParamMgr,LittBS0,Pos2d,"{""x"":1653,""y"":2063}",小缓冲液扫码位置0
-13,Hbot2DCodeScanParamMgr,LarBS0,Pos2d,"{""x"":4867,""y"":1231}",大缓冲液扫码位置0
-19,TubeFeedingModuleParamMgr,TubeHolderEnterXPos,Integer,"{""value"":-46}",入料位置
-20,TubeFeedingModuleParamMgr,TubeHolderExitXPos,Integer,"{""value"":3975}",出料位置
-21,TubeFeedingModuleParamMgr,TubeHolderScanXPos,Integer,"{""value"":2202}",试管架扫描位置
-22,TubeFeedingModuleParamMgr,Tube0ScanPos,Integer,"{""value"":505}",01号试管扫描位置
-23,TubeFeedingModuleParamMgr,Tube0AltitJudgPos,Integer,"{""value"":505}",01试管高度判断位置
-24,TubeFeedingModuleParamMgr,Tube0ExistJudgPos,Integer,"{""value"":300}",01试管存在判断位置
-25,TubeFeedingModuleParamMgr,Tube0PreProcessPos,Integer,"{""value"":1225}",01试管预处理位置
+1,Hbot2DCodeScanParamMgr,PBScanPos0,Pos2d,"{""x"":1864,""y"":16958}",板夹仓扫码位置0
+7,Hbot2DCodeScanParamMgr,LittBS0,Pos2d,"{""x"":18715,""y"":22069}",小缓冲液扫码位置0
+13,Hbot2DCodeScanParamMgr,LarBS0,Pos2d,"{""x"":51780,""y"":13622}",大缓冲液扫码位置0
+19,TubeFeedingModuleParamMgr,TubeHolderEnterXPos,Integer,"{""value"":-125}",入料位置
+20,TubeFeedingModuleParamMgr,TubeHolderExitXPos,Integer,"{""value"":3875}",出料位置
+21,TubeFeedingModuleParamMgr,TubeHolderScanXPos,Integer,"{""value"":2116}",试管架扫描位置
+22,TubeFeedingModuleParamMgr,Tube0ScanPos,Integer,"{""value"":420}",01号试管扫描位置
+23,TubeFeedingModuleParamMgr,Tube0AltitJudgPos,Integer,"{""value"":420}",01试管高度判断位置
+24,TubeFeedingModuleParamMgr,Tube0ExistJudgPos,Integer,"{""value"":220}",01试管存在判断位置
+25,TubeFeedingModuleParamMgr,Tube0PreProcessPos,Integer,"{""value"":1185}",01试管预处理位置
 26,TubeFeedingModuleParamMgr,TubeScanServoTorque,Integer,"{""value"":500}",试管扫描伺服力矩
 27,TubeFeedingModuleParamMgr,TubeSpacing,Double,"{""value"":200.22222222222223}",试管间距
-28,HbotFixedPosParamMgr,DropLiquidPos,Pos3d,"{""x"":2143,""y"":289,""z"":1134}",滴液位置
+28,HbotFixedPosParamMgr,DropLiquidPos,Pos3d,"{""x"":24358,""y"":4100,""z"":1340}",滴液位置
 29,HbotSamplePosParamMgr,EmergencyTubeSamplePos,Pos3d,"{""x"":4857,""y"":3191,""z"":274}",<急诊位>取样位置
 30,HbotSamplePosParamMgr,EmergencyTubeSampleEndPos,Pos3d,"{""x"":4857,""y"":3191,""z"":490}",<急诊位>取样结束位置
 31,HbotSamplePosParamMgr,BloodHTubeSamplePos,Pos3d,"{""x"":2331,""y"":4017,""z"":294}",<全血高试管>取样位置
@@ -28,26 +28,26 @@ id,service,key,valType,val,chName
 42,HbotSamplePosParamMgr,Bulltube0P5SampleEndPos,Pos3d,"{""x"":2331,""y"":3773,""z"":649}",<子弹头试管0.5mL>取样结束位置
 43,HbotSamplePosParamMgr,StoolTestTubeSamplePos,Pos3d,"{""x"":2331,""y"":3773,""z"":433}",<粪便试管>取样位置
 44,HbotSamplePosParamMgr,StoolTestTubeSampleEndPos,Pos3d,"{""x"":2331,""y"":3773,""z"":649}",<粪便试管>取样结束位置
-45,HbotLittleBSPosMgr,LittleBufferGroup0_000Pos,Pos2d,"{""x"":901,""y"":1105}",第1组小瓶缓冲液的第1个位置
-53,HbotLittleBSPosMgr,LittleBSPierceXYAppendDistance,Double,"{""value"":7.0}",小瓶缓冲液刺破XY附加距离
-54,HbotLittleBSPosMgr,LittleBSPierceZPos,Integer,"{""value"":542}",小瓶缓冲液刺破Z坐标
-55,HbotLittleBSPosMgr,LittleBSSampleZPos,Integer,"{""value"":621}",小瓶缓冲液取样Z坐标
-56,HbotLargeBottleBSPosMgr,LargeBuffer_0Pos,Pos2d,"{""x"":4576,""y"":1364}",大瓶缓冲液的第1个位置
-57,HbotLargeBottleBSPosMgr,LargeBuffer_DX,Double,"{""value"":281.0}",大瓶缓冲液的X间距
-58,HbotLargeBottleBSPosMgr,LargeBuffer_DY,Double,"{""value"":274.0}",大瓶缓冲液的Y间距
-61,HbotTipPosMgr,TipGroup0_000Pos,Pos3d,"{""x"":885,""y"":-17,""z"":582}",第1组TIP的第1个位置
-62,HbotTipPosMgr,TipGroup0_SpaceingX,Double,"{""value"":92.5}",第1组TIP的X间距
-63,HbotTipPosMgr,TipGroup0_SpaceingY,Double,"{""value"":92.8}",第1组TIP的Y间距
-64,HbotTipPosMgr,TipGroup1_000Pos,Pos3d,"{""x"":2413,""y"":-15,""z"":576}",第2组TIP的第1个位置
-65,HbotTipPosMgr,TipGroup1_SpaceingX,Double,"{""value"":92.54722222222222}",第2组TIP的X间距
-66,HbotTipPosMgr,TipGroup1_SpaceingY,Double,"{""value"":92.54722222222222}",第2组TIP的Y间距
-67,HbotTipPosMgr,TipGroup2_000Pos,Pos3d,"{""x"":3944,""y"":-20,""z"":578}",第3组TIP的第1个位置
-68,HbotTipPosMgr,TipGroup2_SpaceingX,Double,"{""value"":92.5}",第3组TIP的X间距
-69,HbotTipPosMgr,TipGroup2_SpaceingY,Double,"{""value"":92.5}",第3组TIP的Y间距
-70,HbotTipPosMgr,DropTipPos,Pos3d,"{""x"":4843,""y"":2567,""z"":545}",丢TIP位置
-82,TurntablePosParamMgr,PushPos0,Integer,"{""value"":1600}",入板位置
-83,TurntablePosParamMgr,PullPos0,Integer,"{""value"":19560}",出板位置
-84,TurntablePosParamMgr,DropLiquidPos0,Integer,"{""value"":10550}",滴液位置
+45,HbotLittleBSPosMgr,LittleBufferGroup0_000Pos,Pos2d,"{""x"":11901,""y"":12333}",第1组小瓶缓冲液的第1个位置
+53,HbotLittleBSPosMgr,LittleBSPierceXYAppendDistance,Double,"{""value"":200.0}",小瓶缓冲液刺破XY附加距离
+54,HbotLittleBSPosMgr,LittleBSPierceZPos,Integer,"{""value"":685}",小瓶缓冲液刺破Z坐标
+55,HbotLittleBSPosMgr,LittleBSSampleZPos,Integer,"{""value"":832}",小瓶缓冲液取样Z坐标
+56,HbotLargeBottleBSPosMgr,LargeBuffer_0Pos,Pos2d,"{""x"":49048,""y"":15560}",大瓶缓冲液的第1个位置
+57,HbotLargeBottleBSPosMgr,LargeBuffer_DX,Double,"{""value"":2840.0}",大瓶缓冲液的X间距
+58,HbotLargeBottleBSPosMgr,LargeBuffer_DY,Double,"{""value"":2840.0}",大瓶缓冲液的Y间距
+61,HbotTipPosMgr,TipGroup0_000Pos,Pos3d,"{""x"":11680,""y"":1138,""z"":805}",第1组TIP的第1个位置
+62,HbotTipPosMgr,TipGroup0_SpaceingX,Double,"{""value"":932.0}",第1组TIP的X间距
+63,HbotTipPosMgr,TipGroup0_SpaceingY,Double,"{""value"":932.0}",第1组TIP的Y间距
+64,HbotTipPosMgr,TipGroup1_000Pos,Pos3d,"{""x"":27200,""y"":1138,""z"":805}",第2组TIP的第1个位置
+65,HbotTipPosMgr,TipGroup1_SpaceingX,Double,"{""value"":932.0}",第2组TIP的X间距
+66,HbotTipPosMgr,TipGroup1_SpaceingY,Double,"{""value"":932.0}",第2组TIP的Y间距
+67,HbotTipPosMgr,TipGroup2_000Pos,Pos3d,"{""x"":42690,""y"":1138,""z"":807}",第3组TIP的第1个位置
+68,HbotTipPosMgr,TipGroup2_SpaceingX,Double,"{""value"":932.0}",第3组TIP的X间距
+69,HbotTipPosMgr,TipGroup2_SpaceingY,Double,"{""value"":932.0}",第3组TIP的Y间距
+70,HbotTipPosMgr,DropTipPos,Pos3d,"{""x"":51855,""y"":27259,""z"":900}",丢TIP位置
+82,TurntablePosParamMgr,PushPos0,Integer,"{""value"":-96}",入板位置
+83,TurntablePosParamMgr,PullPos0,Integer,"{""value"":17968}",出板位置
+84,TurntablePosParamMgr,DropLiquidPos0,Integer,"{""value"":8968}",滴液位置
 85,TurntablePosParamMgr,PosSpacing,Integer,"{""value"":1800}",位置间隔
 89,PipetteGunLLFParamMgr,EMERGENCY_TUBE_LLF_VEL,Integer,"{""value"":25}",<急诊试管>液面跟随速度
 90,PipetteGunLLFParamMgr,BLOOD_TUBE_LLF_VEL,Integer,"{""value"":25}",<全血试管>液面跟随速度
@@ -57,47 +57,55 @@ id,service,key,valType,val,chName
 94,PipetteGunLLFParamMgr,BULLET_TUBE_0P5_LLF_VEL,Integer,"{""value"":25}",<子弹头试管0.5ML>液面跟随速度
 95,PipetteGunLLFParamMgr,STOOL_TEST_TUBE_LLF_VEL,Integer,"{""value"":25}",<粪便试管>液面跟随速度
 96,PipetteGunLLFParamMgr,LARGE_BS_BOTTLE_LLF_VEL,Integer,"{""value"":10}",<大瓶缓冲液>液面跟随速度
-98,OptModuleExtParamsMgr,FOptScanShift,Integer,"{""value"":2218}",F光学扫描偏移
-99,OptModuleExtParamsMgr,FOptEmissionIntensity,Integer,"{""value"":100}",F发射强度
-100,OptModuleExtParamsMgr,FOptScanGainVal,Double,"{""value"":1.1}",F光学扫描放大倍数
+98,OptModuleExtParamsMgr,FOptScanShift,Integer,"{""value"":2800}",F光学扫描偏移
+99,OptModuleExtParamsMgr,FOptEmissionIntensity,Integer,"{""value"":1}",F发射强度
+100,OptModuleExtParamsMgr,FOptScanGainVal,Double,"{""value"":10.0}",F光学扫描放大倍数
 101,OptModuleExtParamsMgr,TOptScanShift,Integer,"{""value"":3338}",T光学扫描偏移
 102,OptModuleExtParamsMgr,TOptEmissionIntensity,Integer,"{""value"":20}",T发射强度
 103,OptModuleExtParamsMgr,TOptScanGainVal,Double,"{""value"":0.5}",T光学扫描放大倍数
-104,OptModuleParamsMgr,PullerTargetPos,Integer,"{""value"":1147}",拉板目标位置
-105,OptModuleParamsMgr,OptScanerDropPos,Integer,"{""value"":-337}",丢板坐标
-106,OptModuleParamsMgr,OptScanerScandbyPos,Integer,"{""value"":700}",扫描待机位
-107,TemperatureCtrlParamMgr,IncubatorTCMTempOffset,Double,"{""value"":0}",<孵育仓>温度偏移
-108,TemperatureCtrlParamMgr,PlatesBoxTCMTempOffset,Double,"{""value"":0}",<板夹仓>温度偏移
-109,TubePreProcesPosParamMgr,GripperServoOpenPos,Integer,"{""value"":1637}",<抓手>张开位置
-110,TubePreProcesPosParamMgr,GripperServoTakeCapPos,Integer,"{""value"":1519}",<抓手>取试管位置
-111,TubePreProcesPosParamMgr,GripperRedundancyHeight,Integer,"{""value"":59}",<抓手>冗余高度
-112,TubePreProcesPosParamMgr,ShakeClampMotorClampPos,Integer,"{""value"":5}",<摇匀试管夹>夹紧位
-113,TubePreProcesPosParamMgr,ShakeClampMotorReleasePos,Integer,"{""value"":90}",<摇匀试管夹>释放位
-114,TubePreProcesPosParamMgr,YServoTakeTubePos,Integer,"{""value"":2907}",<Y轴舵机>取试管位置
-115,TubePreProcesPosParamMgr,YServoShakePos,Integer,"{""value"":1956}",<Y轴舵机>摇匀位置
-116,TubePreProcesPosParamMgr,ZMotorTakeHTubePos,Integer,"{""value"":749}",<Z轴>取高试管位置
-117,TubePreProcesPosParamMgr,ZMotorTakeSTubePos,Integer,"{""value"":985}",<Z轴>取低试管位置
-118,TubePreProcesPosParamMgr,ZMotorShakeTubePos,Integer,"{""value"":773}",<Z轴>摇匀放置位置
-119,PlatesBoxPosParamMgr,Ch0YPos,Integer,"{""value"":-17}",通道0Y轴位置
-120,PlatesBoxPosParamMgr,Ch5YPos,Integer,"{""value"":1308}",通道5Y轴位置
-121,PlatesBoxPosParamMgr,PushEndXPos,Integer,"{""value"":1160}",推杆到位坐标
+104,OptModuleParamsMgr,PullerTargetPos,Integer,"{""value"":1251}",拉板目标位置
+105,OptModuleParamsMgr,OptScanerDropPos,Integer,"{""value"":-104}",丢板坐标
+106,OptModuleParamsMgr,OptScanerScandbyPos,Integer,"{""value"":697}",扫描待机位
+107,TemperatureCtrlParamMgr,IncubatorTCMTempOffset,Double,"{""value"":0.0}",<孵育仓>温度偏移
+108,TemperatureCtrlParamMgr,PlatesBoxTCMTempOffset,Double,"{""value"":0.0}",<板夹仓>温度偏移
+109,TubePreProcesPosParamMgr,GripperServoOpenPos,Integer,"{""value"":1600}",<抓手>张开位置
+110,TubePreProcesPosParamMgr,GripperServoTakeCapPos,Integer,"{""value"":1515}",<抓手>取试管位置
+111,TubePreProcesPosParamMgr,GripperRedundancyHeight,Integer,"{""value"":65}",<抓手>冗余高度
+112,TubePreProcesPosParamMgr,ShakeClampMotorClampPos,Integer,"{""value"":24}",<摇匀试管夹>夹紧位
+113,TubePreProcesPosParamMgr,ShakeClampMotorReleasePos,Integer,"{""value"":52}",<摇匀试管夹>释放位
+114,TubePreProcesPosParamMgr,YServoTakeTubePos,Integer,"{""value"":2988}",<Y轴舵机>取试管位置
+115,TubePreProcesPosParamMgr,YServoShakePos,Integer,"{""value"":1948}",<Y轴舵机>摇匀位置
+116,TubePreProcesPosParamMgr,ZMotorTakeHTubePos,Integer,"{""value"":753}",<Z轴>取高试管位置
+117,TubePreProcesPosParamMgr,ZMotorTakeSTubePos,Integer,"{""value"":973}",<Z轴>取低试管位置
+118,TubePreProcesPosParamMgr,ZMotorShakeTubePos,Integer,"{""value"":800}",<Z轴>摇匀放置位置
+119,PlatesBoxPosParamMgr,Ch0YPos,Integer,"{""value"":36}",通道0Y轴位置
+120,PlatesBoxPosParamMgr,Ch5YPos,Integer,"{""value"":1362}",通道5Y轴位置
+121,PlatesBoxPosParamMgr,PushEndXPos,Integer,"{""value"":1243}",推杆到位坐标
 122,PipetteGunExParamMgr,VOLUME_CALIBRATION_COEFFICIENT,Double,null,体积校准系数
 123,PipetteGunExParamMgr,VOLUME_CALIBRATION_COEFFICIENT_A,Double,"{""value"":1.033378}",体积校准系数-A
 124,PipetteGunExParamMgr,VOLUME_CALIBRATION_COEFFICIENT_B,Double,"{""value"":2.76625}",体积校准系数-B
-125,HbotLargeBottleBSPosMgr,LargeBottleBufferLLDStartZAxisPos,Double,"{""value"":90}",大瓶缓冲液LLD起始Z轴坐标
-126,HbotLargeBottleBSPosMgr,LargeBottleBufferBottomZAxisPos,Double,"{""value"":415}",大瓶缓冲液瓶底Z轴坐标
-127,HbotLittleBSPosMgr,LittleBufferDX,Double,"{""value"":209.0}",小瓶缓冲液的X间距
-128,HbotLittleBSPosMgr,LittleBufferDY,Double,"{""value"":209.0}",小瓶缓冲液的Y间距
-131,PlatesBoxPosParamMgr,ChDPos,Double,"{""value"":265}",通道间距
-132,HbotLittleBSPosMgr,GroupDX,Double,"{""value"":1230.0}",小瓶缓冲液的X间距
-133,HbotLittleBSPosMgr,GroupDY,Double,"{""value"":1254.0}",小瓶缓冲液的Y间距
-134,HbotLittleBSPosMgr,ProbeSubstanceGroup0_000Pos,Pos2d,"{""x"":943,""y"":1141}",第1组探测物质的第1个位置
-135,HbotLittleBSPosMgr,ProbeSubstanceDX,Double,"{""value"":188.6}",探测物质的X间距
-136,HbotLittleBSPosMgr,ProbeSubstanceDY,Double,"{""value"":188.6}",探测物质的Y间距
-137,HbotLittleBSPosMgr,ProbeSubstancePierceXYAppendDistance,Double,"{""value"":5.0}",探测物质液刺破XY附加距离
-138,HbotLittleBSPosMgr,ProbeSubstancePierceZPos,Integer,"{""value"":475}",探测物质液刺破Z坐标
-139,HbotLittleBSPosMgr,ProbeSubstanceSampleZPos,Integer,"{""value"":475}",探测物质取样Z坐标
-140,HbotLargeBottleBSPosMgr,LargeBufferScanPos_DX,Double,"{""value"":280}",大瓶缓冲液的扫码位置dx
-141,HbotLargeBottleBSPosMgr,LargeBufferScanPos_DY,Double,"{""value"":580}",大瓶缓冲液的扫码位置dy
+125,HbotLargeBottleBSPosMgr,LargeBottleBufferLLDStartZAxisPos,Double,"{""value"":380.0}",大瓶缓冲液LLD起始Z轴坐标
+126,HbotLargeBottleBSPosMgr,LargeBottleBufferBottomZAxisPos,Double,"{""value"":740.0}",大瓶缓冲液瓶底Z轴坐标
+127,HbotLittleBSPosMgr,LittleBufferDX,Double,"{""value"":2118.1818}",小瓶缓冲液的X间距
+128,HbotLittleBSPosMgr,LittleBufferDY,Double,"{""value"":2118.1818}",小瓶缓冲液的Y间距
+131,PlatesBoxPosParamMgr,ChDPos,Double,"{""value"":265.0}",通道间距
+132,HbotLittleBSPosMgr,GroupDX,Double,"{""value"":12446.49}",小瓶缓冲液的X间距
+133,HbotLittleBSPosMgr,GroupDY,Double,"{""value"":12638.22}",小瓶缓冲液的Y间距
+134,HbotLittleBSPosMgr,ProbeSubstanceGroup0_000Pos,Pos2d,"{""x"":12345,""y"":12749}",第1组探测物质的第1个位置
+135,HbotLittleBSPosMgr,ProbeSubstanceDX,Double,"{""value"":1891.23}",探测物质的X间距
+136,HbotLittleBSPosMgr,ProbeSubstanceDY,Double,"{""value"":1891.23}",探测物质的Y间距
+137,HbotLittleBSPosMgr,ProbeSubstancePierceXYAppendDistance,Double,"{""value"":50.0}",探测物质液刺破XY附加距离
+138,HbotLittleBSPosMgr,ProbeSubstancePierceZPos,Integer,"{""value"":685}",探测物质液刺破Z坐标
+139,HbotLittleBSPosMgr,ProbeSubstanceSampleZPos,Integer,"{""value"":720}",探测物质取样Z坐标
 142,RefPosMgr,HbotXYRefPoint,Pos2d,null,HBOT-XY参考点
-143,RefPosMgr,HbotZRefPlane,Integer,null,HBOT-Z参考平面
+143,RefPosMgr,HbotZRefPlane,Integer,null,HBOT-Z参考平面
+144,TubePreProcesPosParamMgr,TubeShakeMotorOffset,Integer,"{""value"":-10}",<摇匀电机>偏移量
+145,TubeFeedingModuleParamMgr,InfeedOvertime,Integer,"{""value"":10}",入料超时时间
+146,TubeFeedingModuleParamMgr,OutfeedOvertime,Integer,"{""value"":10}",出料超时时间
+147,Hbot2DCodeScanParamMgr,PBDY,Double,"{""value"":2650.0}",板夹仓扫码位置Y
+148,TubePreProcesPosParamMgr,ShakeModLiftingSVWorkPos,Integer,"{""value"":2343}",<顶升舵机>工作位置
+149,Hbot2DCodeScanParamMgr,PBQRCodeDY,Double,"{""value"":2650.0}",板夹仓扫码GROUP间距
+150,Hbot2DCodeScanParamMgr,LargeBSQRCodeDX,Double,"{""value"":2880.0}",大瓶缓冲液的扫码GROUP间距
+151,Hbot2DCodeScanParamMgr,LargeBSQRCodeDY,Double,"{""value"":7500.0}",大瓶缓冲液的扫码GROUP间距
+152,Hbot2DCodeScanParamMgr,LittleBQRCodeDX,Double,"{""value"":12300.0}",小瓶缓冲液的GROUP间距
+153,Hbot2DCodeScanParamMgr,LittleBQRCodeDY,Double,"{""value"":12540.0}",小瓶缓冲液的GROUP间距