update

src/main/java/a8k/a8k_can_protocol/ModuleId.java

@@ -1,63 +1,63 @@
 package a8k.a8k_can_protocol;
 
 public class ModuleId {
-	public static final int ArmXYId                   = 11;//机械臂XY
-	public static final int ArmZId                    = 81;//机械臂Z
-	public static final int FeederId                  = 60;//出入料模块
-	public static final int IdCardReaderId            = 101; //A8K读卡器
-	public static final int IncubatorTempCtrlId       = 51;//温度控制
-	public static final int MaterialScannerId         = 83;//物料扫码器
-	public static final int MotorCardWarehouseMoveId  = 21;//板夹仓移动电机
-	public static final int MotorCardWarehousePushId  = 22;//板夹仓推杆电机
-	public static final int MotorIncubatorRotateId    = 71;//孵育盘旋转
-	public static final int MotorTestCardPullId       = 92;//板卡推杆电机
-	public static final int MotorTestCardScanId       = 91;//板卡扫描电机
-	public static final int MotorTubeBodyClipId       = 31;//试管固定夹爪电机
-	public static final int MotorTubeMoveUpDownId     = 32;//摇匀升降电机
-	public static final int MotorTubeRackExitId       = 63;//出料电机
-	public static final int MotorTubeRackFeedId       = 61;//入料电机
-	public static final int MotorTubeRackMoveId       = 62;//试管架平移电机
-	public static final int MotorTubeShakeId          = 33;//试管摇匀电机
-	public static final int PipetteId                 = 82;//移液枪
-	public static final int ScannerId                 = 93;//扫描仪
-	public static final int ServoTubeCapClipId        = 35;//摇匀试管帽夹爪
-	public static final int ServoTubeMoveFrontBackId  = 34;//摇匀前后电机
-	public static final int ServoTubeRackTubePushId   = 36;//试管架旋转固定舵机
-	public static final int ServoTubeRackTubeRotateId = 37;//试管架旋转舵机
-	public static final int TestCardWarehouseId       = 41;//测试板仓
-	public static final int TrashBoxId                = 40;//废料盒
-	public static final int TubeRackScannerId         = 64;//试管架扫码器
-	public static final int WbTubeFanId               = 42;//气溶胶风扇
+	public static final int ArmXYModule                   = 11;//机械臂XY
+	public static final int ArmZModule                    = 81;//机械臂Z
+	public static final int FeederModule                  = 60;//出入料模块
+	public static final int IdCardReaderModule            = 101; //A8K读卡器
+	public static final int IncubatorTempCtrlModule       = 51;//温度控制
+	public static final int MaterialScannerModule         = 83;//物料扫码器
+	public static final int MotorCardWarehouseMoveModule  = 21;//板夹仓移动电机
+	public static final int MotorCardWarehousePushModule  = 22;//板夹仓推杆电机
+	public static final int MotorIncubatorRotateModule    = 71;//孵育盘旋转
+	public static final int MotorTestCardPullModule       = 92;//板卡推杆电机
+	public static final int MotorTestCardScanModule       = 91;//板卡扫描电机
+	public static final int MotorTubeBodyClipModule       = 31;//试管固定夹爪电机
+	public static final int MotorTubeMoveUpDownModule     = 32;//摇匀升降电机
+	public static final int MotorTubeRackExitModule       = 63;//出料电机
+	public static final int MotorTubeRackFeedModule       = 61;//入料电机
+	public static final int MotorTubeRackMoveModule       = 62;//试管架平移电机
+	public static final int MotorTubeShakeModule          = 33;//试管摇匀电机
+	public static final int PipetteModule                 = 82;//移液枪
+	public static final int ScannerModule                 = 93;//扫描仪
+	public static final int ServoTubeCapClipModule        = 35;//摇匀试管帽夹爪
+	public static final int ServoTubeMoveFrontBackModule  = 34;//摇匀前后电机
+	public static final int ServoTubeRackTubePushModule   = 36;//试管架旋转固定舵机
+	public static final int ServoTubeRackTubeRotateModule = 37;//试管架旋转舵机
+	public static final int TestCardWarehouseModule       = 41;//测试板仓
+	public static final int TrashBoxModule                = 40;//废料盒
+	public static final int TubeRackScannerModule         = 64;//试管架扫码器
+	public static final int WbTubeFanModule               = 42;//气溶胶风扇
 
 	public static String ModuleId2Name(int moduleId) {
 		return switch (moduleId) {
-			case ArmXYId -> "ArmXYId";
-			case ArmZId -> "ArmZId";
-			case FeederId -> "FeederId";
-			case IdCardReaderId -> "IdCardReaderId";
-			case IncubatorTempCtrlId -> "IncubatorTempCtrlId";
-			case MaterialScannerId -> "MaterialScannerId";
-			case MotorCardWarehouseMoveId -> "MotorCardWarehouseMoveId";
-			case MotorCardWarehousePushId -> "MotorCardWarehousePushId";
-			case MotorIncubatorRotateId -> "MotorIncubatorRotateId";
-			case MotorTestCardPullId -> "MotorTestCardPullId";
-			case MotorTestCardScanId -> "MotorTestCardScanId";
-			case MotorTubeBodyClipId -> "MotorTubeBodyClipId";
-			case MotorTubeMoveUpDownId -> "MotorTubeMoveUpDownId";
-			case MotorTubeRackExitId -> "MotorTubeRackExitId";
-			case MotorTubeRackFeedId -> "MotorTubeRackFeedId";
-			case MotorTubeRackMoveId -> "MotorTubeRackMoveId";
-			case MotorTubeShakeId -> "MotorTubeShakeId";
-			case PipetteId -> "PipetteId";
-			case ScannerId -> "ScannerId";
-			case ServoTubeCapClipId -> "ServoTubeCapClipId";
-			case ServoTubeMoveFrontBackId -> "ServoTubeMoveFrontBackId";
-			case ServoTubeRackTubePushId -> "ServoTubeRackTubePushId";
-			case ServoTubeRackTubeRotateId -> "ServoTubeRackTubeRotateId";
-			case TestCardWarehouseId -> "TestCardWarehouseId";
-			case TrashBoxId -> "TrashBoxId";
-			case TubeRackScannerId -> "TubeRackScannerId";
-			case WbTubeFanId -> "WbTubeFanId";
+			case ArmXYModule -> "ArmXYModule";
+			case ArmZModule -> "ArmZModule";
+			case FeederModule -> "FeederModule";
+			case IdCardReaderModule -> "IdCardReaderModule";
+			case IncubatorTempCtrlModule -> "IncubatorTempCtrlModule";
+			case MaterialScannerModule -> "MaterialScannerModule";
+			case MotorCardWarehouseMoveModule -> "MotorCardWarehouseMoveModule";
+			case MotorCardWarehousePushModule -> "MotorCardWarehousePushModule";
+			case MotorIncubatorRotateModule -> "MotorIncubatorRotateModule";
+			case MotorTestCardPullModule -> "MotorTestCardPullModule";
+			case MotorTestCardScanModule -> "MotorTestCardScanModule";
+			case MotorTubeBodyClipModule -> "MotorTubeBodyClipModule";
+			case MotorTubeMoveUpDownModule -> "MotorTubeMoveUpDownModule";
+			case MotorTubeRackExitModule -> "MotorTubeRackExitModule";
+			case MotorTubeRackFeedModule -> "MotorTubeRackFeedModule";
+			case MotorTubeRackMoveModule -> "MotorTubeRackMoveModule";
+			case MotorTubeShakeModule -> "MotorTubeShakeModule";
+			case PipetteModule -> "PipetteModule";
+			case ScannerModule -> "ScannerModule";
+			case ServoTubeCapClipModule -> "ServoTubeCapClipModule";
+			case ServoTubeMoveFrontBackModule -> "ServoTubeMoveFrontBackModule";
+			case ServoTubeRackTubePushModule -> "ServoTubeRackTubePushModule";
+			case ServoTubeRackTubeRotateModule -> "ServoTubeRackTubeRotateModule";
+			case TestCardWarehouseModule -> "TestCardWarehouseModule";
+			case TrashBoxModule -> "TrashBoxModule";
+			case TubeRackScannerModule -> "TubeRackScannerModule";
+			case WbTubeFanModule -> "WbTubeFanModule";
 			default -> "UnknownModuleId(" + moduleId + ")";
 		};
 	}

src/main/java/a8k/appbean/PosBean.java

@@ -0,0 +1,12 @@
+package a8k.appbean;
+
+public class PosBean {
+	public int x;
+	public int y;
+	public int z;
+	public PosBean(int x, int y, int z) {
+		this.x = x;
+		this.y = y;
+		this.z = z;
+	}
+}

src/main/java/a8k/base_hardware/A8kCanBusService.java

@@ -7,7 +7,6 @@ import a8k.appbean.HardwareException;
 import a8k.appbean.appevent.A8kHardwareReport;
 import a8k.service.AppEventBusService;
 import a8k.utils.ByteArray;
-import ch.qos.logback.core.model.processor.AppenderModelHandler;
 import jakarta.annotation.PostConstruct;
 import org.java_websocket.client.WebSocketClient;
 import org.java_websocket.enums.ReadyState;
@@ -126,12 +125,12 @@ public class A8kCanBusService {
 	}
 
 	private A8kPacket packParamsToPacket(Integer moduleId, Integer cmdId, Integer[] params) {
-		int subCmdId = cmdId & 0xFF;
-		int mainCmdId = (cmdId >> 8) & 0xFFFF;
-		int bufferSize = 2 + 2 + 1 + 1 + 2 + 4 * params.length; // PacketIndex - MainCmdId - SubCmdId - CmdType - ModuleId - Parameters
-		ByteBuffer buffer = ByteBuffer.allocate(bufferSize);
+		int        subCmdId   = cmdId & 0xFF;
+		int        mainCmdId  = (cmdId >> 8) & 0xFFFF;
+		int        bufferSize = 2 + 2 + 1 + 1 + 2 + 4 * params.length; // PacketIndex - MainCmdId - SubCmdId - CmdType - ModuleId - Parameters
+		ByteBuffer buffer     = ByteBuffer.allocate(bufferSize);
 		buffer.order(ByteOrder.LITTLE_ENDIAN);
-		buffer.putShort((short)0); // PacketIndex
+		buffer.putShort((short) 0); // PacketIndex
 		buffer.putShort((short) mainCmdId); // MainCmdId
 		buffer.put((byte) subCmdId); // SubCmdId
 		buffer.put((byte) 0); // CmdType
@@ -153,11 +152,11 @@ public class A8kCanBusService {
 		//调用sendCmd,
 		// 如果捕获到超时异常，则重发，最多重发三次
 		// 如果是其他异常，则直接抛出异常。
-		for ( int i=0; i<3; i++ ) {
+		for (int i = 0; i < 3; i++) {
 			try {
 				return this.sendCmd(pack, A8kPacket.CMD_OVERTIME);
-			} catch ( HardwareException e ) {
-				if ( e.getErrorCode() != Errorcode.kovertime ) {
+			} catch (HardwareException e) {
+				if (e.getErrorCode() != Errorcode.kovertime) {
 					throw e;
 				}
 			}
@@ -166,7 +165,7 @@ public class A8kCanBusService {
 	}
 
 	//TODO
-	public void callblockcmd(Integer moduleId, Integer cmdId, Integer[] params,int acitionOvertime) throws HardwareException {
+	public void callblockcmd(Integer moduleId, Integer cmdId, Integer[] params, int acitionOvertime) throws HardwareException, InterruptedException {
 		var packet = this.packParamsToPacket(moduleId, cmdId, params);
 		this.sendCmdAutoResend(packet, A8kPacket.CMD_OVERTIME);
 
@@ -176,24 +175,19 @@ public class A8kCanBusService {
 
 		long startedAt = System.currentTimeMillis();
 		do {
-			var pack = this.callcmd(moduleId, 0x0104, new Integer[]{});
-			var content = pack.getCmdContent();
-			var status = content[0];
-			if ( 0 == status ) {
-				break ;
+			var pack    = this.callcmd(moduleId, CmdId.kmodule_get_status, new Integer[]{});
+			var status = pack.getContentI32(0);
+			if (0 == status) {
+				break;
 			}
 
 			long now = System.currentTimeMillis();
-			if ( now - startedAt > acitionOvertime) {
+			if (now - startedAt > acitionOvertime) {
 				throw new HardwareException(pack.getModuleId(), Errorcode.kovertime);
 			}
 
-			try {
-				Thread.sleep(10);
-			} catch (InterruptedException e) {
-				throw new RuntimeException(e);
-			}
-		} while ( true );
+			Thread.sleep(100);
+		} while (true);
 	}
 
 	private A8kPacket sendCmd(A8kPacket pack, int overtime) throws HardwareException {

src/main/java/a8k/service/db/dao/A8KGeneralConsumablesPropertyDao.java

@@ -0,0 +1,36 @@
+package a8k.service.db.dao;
+
+import a8k.service.db.entity.A8kGeneralConsumablesProperty;
+import com.iflytop.uf.UfActiveRecord;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+
+/**
+ * 用于存储耗材的一些属性信息
+ */
+@Component
+public class A8KGeneralConsumablesPropertyDao {
+
+
+
+	public float getValAsFloat(String propertyKey) {
+		A8kGeneralConsumablesProperty val = UfActiveRecord.findOne(A8kGeneralConsumablesProperty.class, Map.of("propertyKey", propertyKey));
+		assert val != null;
+		return Float.parseFloat(val.val);
+	}
+
+
+	public int getValAsInt(String propertyKey) {
+		A8kGeneralConsumablesProperty val = UfActiveRecord.findOne(A8kGeneralConsumablesProperty.class, Map.of("propertyKey", propertyKey));
+		assert val != null;
+		return Integer.parseInt(val.val);
+	}
+
+	public String getValAsString(String propertyKey) {
+		A8kGeneralConsumablesProperty val = UfActiveRecord.findOne(A8kGeneralConsumablesProperty.class, Map.of("propertyKey", propertyKey));
+		assert val != null;
+		return val.val;
+	}
+
+}

src/main/java/a8k/service/db/dao/A8kDirectCtrlPosDao.java

@@ -0,0 +1,47 @@
+package a8k.service.db.dao;
+
+import a8k.appbean.PosBean;
+import a8k.service.db.entity.A8kDirectCtrlPos;
+import com.iflytop.uf.UfActiveRecord;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+
+/**
+ *
+ *	用于设备运行中的关键位置信息
+ *
+ *
+ */
+@Component
+public class A8kDirectCtrlPosDao {
+
+	//
+	// 试管架移动相关坐标
+	//		1.零点参考点为零点光电。
+	//      2.移动坐标参考点为从左往右数第一个试管
+	//      3.正方向为执行机构的正方向
+	//
+	public static final String kMotorTubeRackMotor_tubeScanPos          = "kMotorTubeRackMotor_tubeScanPos"; //扫码位置
+	public static final String kMotorTubeRackMotor_tubeHeighJudgmentPos = "kMotorTubeRackMotor_tubeHeighJudgmentPos"; //高低试管判断位置
+	public static final String kMotorTubeRackMotor_tubePreProcessPos    = "kMotorTubeRackMotor_tubePreProcessPos"; //试管预处理位置
+	public static final String kMotorTubeRackMotor_tubeExistJudgmentPos = "kMotorTubeRackMotor_tubeExistJudgmentPos";//试管有无
+	public static final String kMotorTubeRackMotor_tubeRackEnterPos     = "kMotorTubeRackMotor_tubeRackEnterPos"; //入料位置
+	public static final String kMotorTubeRackMotor_tubeRackExitPos      = "kMotorTubeRackMotor_tubeRackExitPos"; //出料位置
+	public static final String kMotorTubeRackMotor_tubeRackScanCodePos  = "kMotorTubeRackMotor_tubeRackScanCodePos"; //出料位置
+
+
+	PosBean getPosBean(String posName) {
+		A8kDirectCtrlPos pos = UfActiveRecord.findOne(A8kDirectCtrlPos.class, Map.of("posName", posName));
+		assert pos != null;
+		return new PosBean(pos.posX, pos.posY, pos.posZ);
+	}
+
+	A8kDirectCtrlPos getPos(String posName) {
+		A8kDirectCtrlPos pos = UfActiveRecord.findOne(A8kDirectCtrlPos.class, Map.of("posName", posName));
+		assert pos != null;
+		return pos;
+	}
+
+
+}

src/main/java/a8k/service/db/dao/A8kTubeInfoDao.java

@@ -0,0 +1,30 @@
+package a8k.service.db.dao;
+
+import a8k.service.db.entity.A8kTubeInfo;
+import com.iflytop.uf.UfActiveRecord;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+
+@Component
+public class A8kTubeInfoDao {
+	public static final String BloodTubeCode     = "0000"; //全血试管
+	public static final String MiniTubeCode      = "1111"; //迷你试管
+	public static final String MiniBloodCode     = "2222"; //阳普管
+	public static final String BulletTube1P5Code = "5555"; //子弹头试管1.5mL
+	public static final String BulletTube0P5Code = "4444"; //子弹头试管0.5mL
+
+	public static final String TubeType_HighBlood     = "HighBloodTube"; //全血试管
+	public static final String TubeType_ShortBlood    = "ShortBloodTube"; //全血试管
+	public static final String TubeType_Mini          = "MiniTube"; //迷你试管
+	public static final String TubeType_MiniBlood     = "MiniBloodTube"; //阳普管
+	public static final String TubeType_BulletTube1P5 = "BulletTube1P5"; //子弹头试管1.5mL
+	public static final String TubeType_BulletTube0P5 = "BulletTube0P5"; //子弹头试管0.5mL
+
+
+	public A8kTubeInfo getTubeInfo(String TypeName) {
+		var info = UfActiveRecord.findOne(A8kTubeInfo.class, Map.of("typeName", TypeName));
+		assert info != null;
+		return info;
+	}
+}

src/main/java/a8k/service/db/dao/MotorParameterDao.java

@@ -0,0 +1,17 @@
+package a8k.service.db.dao;
+
+import a8k.service.db.entity.MotorParameter;
+
+import com.iflytop.uf.UfActiveRecord;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+
+@Component
+public class MotorParameterDao {
+	MotorParameter getMotorParameter(int mid) {
+		var param = UfActiveRecord.findOne(MotorParameter.class, Map.of("mid", mid));
+		assert param != null;
+		return param;
+	}
+}

src/main/java/a8k/service/db/entity/A8kDirectCtrlPos.java

@@ -0,0 +1,27 @@
+package a8k.service.db.entity;
+
+import com.iflytop.uf.UfActiveRecord;
+import com.iflytop.uf.UfActiveRecordField;
+
+/**
+ * A8kDirectCtrlPos
+ */
+public class A8kDirectCtrlPos extends UfActiveRecord {
+
+	@UfActiveRecordField
+	public String  posName; //位置名称
+	@UfActiveRecordField
+	public Integer mid;//模块ID
+	@UfActiveRecordField
+	public String  midName; //模块ID
+	@UfActiveRecordField
+	public Integer posX;  //位置X，如果只有一个位置，则使用位置X
+	@UfActiveRecordField
+	public Integer posY; //位置Y，如果有两个位置，则使用位置X,Y
+	@UfActiveRecordField
+	public Integer posZ; //位置Z，如果有三个位置，则使用位置X,Y，Z
+
+	public static String getTableName() {
+		return "A8kDirectCtrlPos" + "Table";
+	}
+}

src/main/java/a8k/service/db/entity/A8kGeneralConsumablesProperty.java

@@ -0,0 +1,20 @@
+package a8k.service.db.entity;
+
+import com.iflytop.uf.UfActiveRecord;
+import com.iflytop.uf.UfActiveRecordField;
+
+/**
+ * A8kDirectCtrlPos
+ */
+public class A8kGeneralConsumablesProperty extends UfActiveRecord {
+
+	@UfActiveRecordField
+	public String  propertyKey;
+	@UfActiveRecordField
+	public String val;
+
+
+	public static String getTableName() {
+		return "A8kGeneralConsumablesProperty" + "Table";
+	}
+}

src/main/java/a8k/service/db/entity/A8kTubeInfo.java

@@ -0,0 +1,31 @@
+package a8k.service.db.entity;
+
+import com.iflytop.uf.UfActiveRecord;
+import com.iflytop.uf.UfActiveRecordField;
+
+public class A8kTubeInfo extends UfActiveRecord {
+
+	/**
+	 * 	所有高度均是距离试管架底部的高度
+	 */
+	@UfActiveRecordField
+	public String  typeName; //试管类型编码
+	@UfActiveRecordField
+	public String  scanCode;//试管对应的编码
+	@UfActiveRecordField
+	public Integer tubeNum; //试管数量
+	@UfActiveRecordField
+	public Double tubeSpacing; //试管之间的间隔 单位mm
+	@UfActiveRecordField
+	public Double  tubeHight;//float mm 取试管帽高度（试管帽的下编研）
+	@UfActiveRecordField
+	public Double  tubeHightWithCap;//float mm 取试管帽高度（试管帽的下编研）
+	@UfActiveRecordField
+	public String  tubeCapHight;//试管帽高度
+	@UfActiveRecordField
+	public Double  sampleHeight;//float mm 取样高度
+	@UfActiveRecordField
+	public Double  sampleBottom;//float mm 取样低位
+
+
+}

src/main/java/a8k/service/db/entity/MotorParameter.java

@@ -0,0 +1,28 @@
+package a8k.service.db.entity;
+
+import com.iflytop.uf.UfActiveRecord;
+import com.iflytop.uf.UfActiveRecordField;
+
+public class MotorParameter extends UfActiveRecord {
+	@UfActiveRecordField
+	Integer mid; //模块ID
+
+	@UfActiveRecordField
+	String moduleName; //模块名称
+
+	@UfActiveRecordField
+	Integer zeroPosOff; //零点偏移
+
+	@UfActiveRecordField
+	Integer moveToZeroOvertime;// 回零超时时间
+
+	@UfActiveRecordField
+	Integer defaultVelocity; //默认速度
+
+	@UfActiveRecordField
+	Integer backToZeroVelocity; //回零速度
+
+	@UfActiveRecordField
+	Integer loseStepWarningJudgeDistance; //丢步异常警告距离
+
+}

src/main/java/a8k/service/hardware/MotorTubeRackMoveService.java

@@ -1,4 +1,136 @@
 package a8k.service.hardware;
 
+import a8k.service.db.dao.A8kDirectCtrlPosDao;
+import a8k.service.db.dao.A8kTubeInfoDao;
+import a8k.service.db.dao.MotorParameterDao;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Component;
+
+@Component
 public class MotorTubeRackMoveService {
+	/**
+	 *
+	 *	主要用来控制试管架的平移动作控制
+	 *
+	 * 	编写注意事项:
+	 * 		1.坐标从数据库中拿一些关键点的坐标进行运算
+	 *		2.直接调用A8kCanBusService的方法。
+	 *		3.利用光电，和编码器检查设备是否运行到位
+	 *
+	 */
+
+	//	kMotorTubeRackMotor_tubeScanPos
+	//	kMotorTubeRackMotor_tubeHeighJudgmentPos
+	//	kMotorTubeRackMotor_tubePreProcessPos
+	//	kMotorTubeRackMotor_tubeExistJudgmentPos
+	//
+	//	kMotorTubeRackMotor_tubeRackEnterPos
+	//	kMotorTubeRackMotor_tubeRackExitPos
+	//	kMotorTubeRackMotor_tubeRackScanCodePos
+
+	@Autowired
+	A8kDirectCtrlPosDao directCtrlPosTableDao;
+	@Autowired
+	A8kTubeInfoDao      tubeInfoDao;
+	@Autowired
+	MotorParameterDao   motorParameterDao;
+
+
+	//
+	// 电机基础控制
+	//
+
+	void moveToZeroWhenDeviceSetup() {
+
+	}
+
+
+	void moveToZero() {
+		//先通过move_to 指令移动到零点
+		//再通过 move_to_zero 进行归零(设置超时时间)，超时时间，来源MotorParameterDao
+		//最后读取 寄存器dval,判断move_to_zero移动了多少距离，如果dval过大，则抛出电机丢步异常。
+	}
+
+
+	//
+	// 试管架移动
+	//
+
+	/**
+	 * 移动试管架到入口位置
+	 */
+	void moveTubeRackToEnterPos() {
+	}
+
+	/**
+	 * 移动试管架到出口位置
+	 */
+	void moveTubeRackToExitPos() {
+	}
+
+	/**
+	 * 移动试管架到试管架扫码位置
+	 */
+	void moveTubeRackToScanPos() {
+	}
+
+	//
+	// 试管移动
+	//
+
+
+	/**
+	 * 移动试管到扫码位置
+	 * @param tubeType
+	 * @param tubeIndex
+	 */
+	void moveTubeToScanPos(String tubeType, Integer tubeIndex) {
+	}
+
+	/**
+	 * 移动试管到试管高低判断位置
+	 * @param tubeType
+	 * @param tubeIndex
+	 */
+	void moveTubeToHeighJudgmentPos(String tubeType, Integer tubeIndex) {
+	}
+
+	/**
+	 * 移动试管到试管预处理的位置
+	 * @param tubeType
+	 * @param tubeIndex
+	 */
+	void moveTubeToPreProcessPos(String tubeType, Integer tubeIndex) {
+	}
+
+	//
+	// 状态检测
+	//
+
+	/**
+	 * 移动试管到试管有无判断位置
+	 * @param tubeType
+	 * @param tubeIndex
+	 */
+	void moveTubeToExistJudgmentPos(String tubeType, Integer tubeIndex) {
+	}
+
+	boolean isTubeRackExitInEnterPos() {
+		return false;
+	}
+
+	boolean isTubeRackExitInExitPos() {
+		return false;
+	}
+
+	/**
+	 * 获取移动通道的光电状态
+	 * @param photoelectricIndex 0:里光电，1:外光电
+	 * @return true, 光电触发 false,光电没有触发
+	 */
+	boolean getMoveChannelPhotoelectricState(int photoelectricIndex) {
+		return false;
+	}
+
+
 }