update

README2.md

@@ -104,14 +104,19 @@ TODO:
         2. 吸空检测
 
     校准移液枪相关参数
-    10. 加热功能
-    支持通过excel导入项目信息
+    10. 加热功能 OK
 ```
 
 ```
-    16. 支持急停  
-6. 核对ID卡信息
-1. 记录打印功能?
-3. 支持鼠标?
+0. 支持通过excel导入项目信息
+1. 部署
+2. 支持急停  
+3. 在插卡时，添加ID卡信息核对代码
+4. 支持标准卡测试
+5. 支持板夹出仓时扫码检查功能
+4. 记录打印功能?
+
+6. 支持吸空检测 （困难）
+5. 支持鼠标?   （困难）
 
 ```

src/main/java/a8k/extapi_controler/ExtApiControler.java

@@ -165,7 +165,7 @@ public class ExtApiControler {
 		}
 		return AppRet.success(statusList);
 	}
-
+//
 	@PostMapping("/api/service-config/service-action-list")
 	@ResponseBody
 	public AppRet serviceActionList(@RequestBody Map<String, Object> params) throws Exception {
@@ -280,53 +280,6 @@ public class ExtApiControler {
 		return this.executeServiceActionAndGetResponse(service, method, actionParams);
 	}
 
-	@PostMapping("/api/service-config/service-action-exec-by-map")
-	@ResponseBody
-	public AppRet serviceActionExecuteByMap(@RequestBody Map<String, Object> params) throws Throwable {
-		String serviceKey = (String) params.get("serviceKey");
-		var    service    = this.getServiceInstanceByServiceKey(serviceKey);
-		Assert.isTrue(service != null, "service not found");
-
-
-		var          actionName      = (String) params.get("action");
-		var          actionParams    = (Map<String, Object>) params.get("params");
-		List<Object> actionParamList = new ArrayList<>();
-		Method       method          = null;
-		for (var methodItem : service.getClass().getMethods()) {
-			if (!methodItem.getName().equals(actionName)) {
-				continue;
-			}
-			if (methodItem.getParameterTypes().length != actionParams.size()) {
-				continue;
-			}
-			if (!methodItem.isAnnotationPresent(ExtApiFn.class)) {
-				continue;
-			}
-
-			actionParamList.clear();
-			for (var paramItem : methodItem.getParameters()) {
-				var    name  = paramItem.getName();
-				Object value = actionParams.get(name);
-				if (paramItem.getType().isEnum()) {
-					var methodValueOf = paramItem.getType().getMethod("valueOf", String.class);
-					value = methodValueOf.invoke(null, (String) value);
-				} else if (paramItem.getType().equals(EnginnerParamFile.class)) {
-					value = EnginnerParamFile.fromBase64((String) value);
-				} else if (paramItem.getType().equals(Double.class)) {
-					value = Double.valueOf(String.format("%s", value));
-				}
-				if (!paramItem.getType().isAssignableFrom(value.getClass())) {
-					continue;
-				}
-				actionParamList.add(value);
-			}
-			method = methodItem;
-			break;
-		}
-		Assert.isTrue(method != null, "method not found");
-		return this.executeServiceActionAndGetResponse(service, method, actionParamList);
-	}
-
 	@PostMapping("/api/service-config/class-struct-info-get")
 	@ResponseBody
 	public AppRet classStructInfoGet(@RequestBody Map<String, Object> params) throws Exception {

src/main/java/a8k/extapi_controler/pagecontrol/ExtApiTabConfig.java

@@ -36,6 +36,7 @@ public enum ExtApiTabConfig {
 	VirtualDeviceSimulationTest("测试.虚拟设备测试", true),
 	MainflowCtrlTestService("测试.主流程控制测试", true),
 	A8kPipetteCtrlModule("硬件驱动测试.移液枪测试", true),
+	StepMotorCtrlDriver("硬件驱动测试.步进电机测试", true),
 
 	ActionReactorService("底层调试.单步调试", false),//OK
 	ReactionPlatesTransmitCtrl("ReactionPlatesTransmitCtrl", false),

src/main/java/a8k/extapi_controler/utils/ExtApiFn.java

@@ -7,7 +7,7 @@ import java.lang.annotation.Target;
 @Retention(RetentionPolicy.RUNTIME)
 @Target({ElementType.METHOD})
 public @interface ExtApiFn {
-	String name();
+	String name() default "";
 	String group() default "";
 	int groupOrder() default 0;
 	int order() default 0;

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

@@ -22,6 +22,7 @@ import org.java_websocket.enums.ReadyState;
 import org.java_websocket.handshake.ServerHandshake;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
+import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Component;
 
 import java.net.URI;
@@ -46,6 +47,7 @@ public class A8kCanBusService {
 	@Resource
 	VirtualDevice virtualDevice;
 
+	@Value("${A8kCanBusService.url:ws://127.0.0.1:19005}")
 	public  String          uri; // assign by application.yml
 	private WebSocketClient client;
 	private A8kPacket       txPacketContext;
@@ -71,10 +73,8 @@ public class A8kCanBusService {
 
 		logger.info("BaseHardwareService initilized");
 		packetIndex = 0;
-		if (this.uri == null) {
-			// this.uri = "ws://127.0.0.1:19005";
-			this.uri = "ws://192.168.8.10:19005";
-		}
+
+		logger.info("+++++++++++++++++++++++++a8k canbus connect to {}", this.uri);
 
 		URI uri = new URI(this.uri);
 		client = new WebSocketClient(uri) {

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

@@ -1,7 +1,10 @@
 package a8k.hardware;
 
 import a8k.service.app.devicectrl.driver.PipetteCtrlDriver;
+import a8k.service.app.devicectrl.driver.StepMotorCtrlDriver;
 import a8k.service.app.devicectrl.driver.type.PipetteRegIndex;
+import a8k.service.app.devicectrl.driver.type.StepMotorMId;
+import a8k.service.app.devicectrl.driver.type.StepMotorRegIndex;
 import a8k.service.bases.AppEventBusService;
 import a8k.service.bases.appevent.A8kCanBusOnConnectEvent;
 import a8k.service.bases.appevent.AppEvent;
@@ -24,9 +27,11 @@ public class A8kModParamInitializer {
 	AppEventBusService eventBus;
 
 	@Resource
-	A8kCanBusService  canBus;
+	A8kCanBusService    canBus;
 	@Resource
-	PipetteCtrlDriver pipetteCtrlDriver;
+	PipetteCtrlDriver   pipetteCtrlDriver;
+	@Resource
+	StepMotorCtrlDriver stepMotorCtrlDriver;
 
 
 	@Resource
@@ -107,6 +112,12 @@ public class A8kModParamInitializer {
 		canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_look_zero_edge_speed, 10);
 
 
+//		//摇匀模组降低其加速度
+		stepMotorCtrlDriver.setReg(StepMotorMId.ShakeModShakeM, StepMotorRegIndex.kreg_step_motor_a1, 300);
+		stepMotorCtrlDriver.setReg(StepMotorMId.ShakeModShakeM, StepMotorRegIndex.kreg_step_motor_d1, 300);
+		stepMotorCtrlDriver.setReg(StepMotorMId.ShakeModShakeM, StepMotorRegIndex.kreg_step_motor_amax, 300);
+		stepMotorCtrlDriver.setReg(StepMotorMId.ShakeModShakeM, StepMotorRegIndex.kreg_step_motor_dmax, 300);
+
 
 	}
 

src/main/java/a8k/hardware/type/regindex/StepMotorRegIndex.java

@@ -1,61 +0,0 @@
-package a8k.hardware.type.regindex;
-
-public enum StepMotorRegIndex {
-	/***********************************************************************************************************************
-	 * step_motor *
-	 ***********************************************************************************************************************/
-	kreg_step_motor_pos(RegIndex.kreg_step_motor_pos.index), // 机器人x坐标
-	kreg_step_motor_is_enable(10102), // 是否使能
-	kreg_step_motor_dpos(10103), // 执行完上一条指令后的相对位移
-	kreg_step_motor_shift(10150), // x偏移
-	kreg_step_motor_shaft(10151), // x轴是否反转
-	kreg_step_motor_one_circle_pulse(10152), // x轴一圈脉冲数
-	kreg_step_motor_one_circle_pulse_denominator(10153), // 设置一圈脉冲数的分母
-	kreg_step_motor_default_velocity(10154), // 默认速度
-	kreg_step_motor_ihold(10158), // 步进电机电流配置
-	kreg_step_motor_irun(10159), // 步进电机电流配置
-	kreg_step_motor_iholddelay(10160), // 步进电机电流配置
-	kreg_step_motor_iglobalscaler(10161), // 步进电机电流配置
-	kreg_step_motor_run_to_zero_speed(10173), // 回零速度
-	kreg_step_motor_look_zero_edge_speed(10175), // 找零边缘速度
-	kreg_step_motor_max_d(10178), // 最大限制距离
-	kreg_step_motor_min_d(10179), // 最小限制距离
-	kreg_step_motor_in_debug_mode(10180), // 驱动器处于调试模式
-	kreg_step_motor_vstart(10181), // a1起作用的速度
-	kreg_step_motor_a1(10182), //
-	kreg_step_motor_amax(10183), //
-	kreg_step_motor_v1(10184), //
-	kreg_step_motor_dmax(10185), //
-	kreg_step_motor_d1(10186), //
-	kreg_step_motor_vstop(10187), //
-	kreg_step_motor_tzerowait(10188), //
-	kreg_step_motor_enc_resolution(10189), // 编码器分辨率 1000,1024,4000,4096,16384
-	kreg_step_motor_enable_enc(10190), //
-	kreg_step_motor_dzero_pos(10191), // 驱动器处于调试模式
-	kret_step_motor_pos_devi_tolerance(10192), // 位置偏差容忍度
-	kret_step_motor_io_trigger_append_distance(10193), // 移动到io时，附加的距离
-	;
-
-	public final int     index;
-	public final Boolean trace;
-
-	StepMotorRegIndex(int regIndex) {
-		this.index = regIndex;
-		this.trace = true;
-	}
-
-	StepMotorRegIndex(int regIndex, Boolean trace) {
-		this.index = regIndex;
-		this.trace = trace;
-	}
-
-	public static StepMotorRegIndex valueOf(int val) {
-		StepMotorRegIndex[] values = StepMotorRegIndex.values();
-		for (StepMotorRegIndex regindex : values) {
-			if (regindex.index == val) {
-				return regindex;
-			}
-		}
-		return null;
-	}
-}

src/main/java/a8k/service/app/devicectrl/ctrlservice/DeviceInitCtrlService.java

@@ -115,7 +115,7 @@ public class DeviceInitCtrlService {
 			actionReactor.dosome("摇匀模组-夹紧电机回零", () -> stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModClampingM, actionOvertime));
 			actionReactor.dosome("摇匀模组-夹爪Z轴电机回零", () -> stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, actionOvertime));
 			actionReactor.dosome("摇匀模组-摇匀电机回零", () -> stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModShakeM, actionOvertime));
-			actionReactor.dosome("摇匀模组-摇匀电机摆动90度", () -> stepMotorCtrlDriver.stepMotorEasyMoveTo(StepMotorMId.ShakeModShakeM, 90));
+			actionReactor.dosome("摇匀模组-摇匀电机摆动90度", () -> stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.ShakeModShakeM, 90,actionOvertime));
 			//板夹仓初始化
 			actionReactor.dosome("板夹仓Y轴电机回零", () -> stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.PlatesBoxYM, actionOvertime));
 			actionReactor.dosome("板夹仓推板电机回零", () -> stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.PlatesBoxPusherM, actionOvertime));

src/main/java/a8k/service/app/devicectrl/ctrlservice/OptScanModuleCtrlService.java

@@ -14,6 +14,7 @@ import a8k.service.app.devicectrl.driver.OptModuleDriver;
 import a8k.service.app.devicectrl.driver.StepMotorCtrlDriver;
 import a8k.service.app.devicectrl.driver.type.OptModuleRegIndex;
 import a8k.service.app.devicectrl.driver.type.StepMotorMId;
+import a8k.service.app.devicectrl.param.param_mgr.OptModuleExtParamsMgr;
 import a8k.service.app.devicectrl.param.param_mgr.OptModuleParamsMgr;
 import a8k.service.bases.ActionReactorService;
 import a8k.service.db.type.ProjOptConfig;
@@ -44,6 +45,8 @@ public class OptScanModuleCtrlService {
 	OptModuleDriver      optModuleDriver;
 
 	@Resource
+	OptModuleExtParamsMgr   optModuleExtParamsMgr;
+	@Resource
 	OptModuleParamsMgr      optModuleParamsMgr;
 	@Resource
 	TurnableMoveCtrlService turnableMoveCtrlService;
@@ -64,11 +67,11 @@ public class OptScanModuleCtrlService {
 
 
 	public Integer[] startOptScan(A8kOptType optType, Integer rawScanGain) throws AppException {
-		Integer forwardScanPos = optModuleParamsMgr.getOptScanStartPos(optType);
+		Integer forwardScanPos = optModuleExtParamsMgr.getOptScanStartPos(optType);
 
-		//		Double  scanGain    = optModuleParamsMgr.getScanGain(optType);
+		//		Double  scanGain    = optModuleExtParamsMgr.getScanGain(optType);
 		//		Integer rawScanGain = OptGainConvert.scanerToRawGain(optType, scanGain);
-		Integer lasterGain = optModuleParamsMgr.getOptEmissionIntensity(optType);
+		Integer lasterGain = optModuleExtParamsMgr.getOptEmissionIntensity(optType);
 
 		switch (optType) {
 			case TOPT -> {
@@ -109,7 +112,7 @@ public class OptScanModuleCtrlService {
 		for (int i = 0; i < adjustCount; i++) {
 
 			if (i == 0) {
-				scanRealGain = optModuleParamsMgr.getScanGain(optType);
+				scanRealGain = optModuleExtParamsMgr.getScanGain(optType);
 				scanRawGain  = OptGainConvert.scanerToRawGain(optType, scanRealGain);
 			}
 

src/main/java/a8k/service/app/devicectrl/driver/StepMotorCtrlDriver.java

@@ -1,67 +1,89 @@
 package a8k.service.app.devicectrl.driver;
 
+import a8k.extapi_controler.utils.ExtApiFn;
+import a8k.extapi_controler.utils.ExtApiTab;
 import a8k.hardware.A8kCanBusService;
 import a8k.hardware.type.a8kcanprotocol.A8kPacket;
 import a8k.hardware.type.a8kcanprotocol.CmdId;
 import a8k.hardware.type.regindex.RegIndex;
 import a8k.service.app.devicectrl.driver.type.StepMotorMId;
+import a8k.service.app.devicectrl.driver.type.StepMotorRegIndex;
 import a8k.type.exception.AppException;
+import a8k.utils.ZJsonHelper;
+import com.fasterxml.jackson.databind.node.ObjectNode;
 import jakarta.annotation.Resource;
 import org.slf4j.Logger;
 import org.springframework.stereotype.Component;
 
 @Component
+@ExtApiTab(cfg = a8k.extapi_controler.pagecontrol.ExtApiTabConfig.StepMotorCtrlDriver)
 public class StepMotorCtrlDriver {
 	static Logger logger = org.slf4j.LoggerFactory.getLogger(StepMotorCtrlDriver.class);
 
 	@Resource
 	A8kCanBusService canBus;
+
+	void stepMotorEasyMoveBy(StepMotorMId id, Integer dpos) throws AppException {
+		canBus.callcmd(id.mid, CmdId.step_motor_easy_move_by, dpos);
+	}
+
+	void stepMotorEasyMoveTo(StepMotorMId id, Integer pos) throws AppException {
+		canBus.callcmd(id.mid, CmdId.step_motor_easy_move_to, pos);
+	}
+
+	void stepMotorEasyMoveToZero(StepMotorMId id) throws AppException {
+		canBus.callcmd(id.mid, CmdId.step_motor_easy_move_to_zero);
+	}
+
+	void stepMotorEasyMoveToZeroPointQuick(StepMotorMId id) throws AppException {
+		canBus.callcmd(id.mid, CmdId.step_motor_easy_move_to_zero_point_quick);
+	}
+
+	void stepMotorEasyMoveToEndPoint(StepMotorMId id) throws AppException {
+		canBus.callcmd(id.mid, CmdId.step_motor_easy_move_to_end_point);
+	}
+
 	//
 	// stepMotor
 	//
+	@ExtApiFn(name = "stepMotorEnable", order = 1)
 	public void stepMotorEnable(StepMotorMId mid, Integer enable) throws AppException {
 		canBus.callcmd(mid.mid, CmdId.step_motor_enable, enable);
 	}
 
+	@ExtApiFn(name = "stepMotorReadPos", order = 2)
 	public Integer stepMotorReadPos(StepMotorMId id) throws AppException {
 		A8kPacket packet = canBus.callcmd(id.mid, CmdId.step_motor_read_pos);
 		return packet.getContentI32(0);
 	}
 
-	public void stepMotorEasyRotate(StepMotorMId id, int direction) throws AppException {
+	@ExtApiFn(name = "stepMotorEasyRotate", order = 3)
+	public void stepMotorEasyRotate(StepMotorMId id, Integer direction) throws AppException {
 		canBus.callcmd(id.mid, CmdId.step_motor_easy_rotate, direction);
 	}
 
-	public void stepMotorEasyMoveBy(StepMotorMId id, int dpos) throws AppException {
-		canBus.callcmd(id.mid, CmdId.step_motor_easy_move_by, dpos);
-	}
-
-	public void stepMotorEasyMoveByBlock(StepMotorMId id, int dpos, Integer actionOvertime) throws AppException {
+	@ExtApiFn(name = "stepMotorEasyMoveByBlock", order = 4)
+	public void stepMotorEasyMoveByBlock(StepMotorMId id, Integer dpos, Integer actionOvertime) throws AppException {
 		logger.info("stepMotorEasyMoveByBlock {} {}", id, dpos);
 		stepMotorEasyMoveBy(id, dpos);
 		canBus.waitForMod(id.mid, actionOvertime);
 	}
 
-	public void stepMotorEasyMoveTo(StepMotorMId id, int pos) throws AppException {
-		canBus.callcmd(id.mid, CmdId.step_motor_easy_move_to, pos);
-	}
-
-	public void stepMotorEasyMoveToBlock(StepMotorMId id, int pos, Integer actionOvertime) throws AppException {
+	@ExtApiFn(name = "stepMotorEasyMoveToBlock", order = 5)
+	public void stepMotorEasyMoveToBlock(StepMotorMId id, Integer pos, Integer actionOvertime) throws AppException {
 		logger.info("stepMotorEasyMoveToBlock {} {}", id, pos);
 		stepMotorEasyMoveTo(id, pos);
 		canBus.waitForMod(id.mid, actionOvertime);
 	}
 
-	public void stepMotorEasyMoveToZero(StepMotorMId id) throws AppException {
-		canBus.callcmd(id.mid, CmdId.step_motor_easy_move_to_zero);
-	}
-
+	@ExtApiFn(name = "stepMotorEasyMoveToZeroBlock", order = 6)
 	public void stepMotorEasyMoveToZeroBlock(StepMotorMId id, Integer actionOvertime) throws AppException {
 		logger.info("stepMotorEasyMoveToZeroBlock {}", id);
 		stepMotorEasyMoveToZero(id);
 		canBus.waitForMod(id.mid, actionOvertime);
 	}
 
+	@ExtApiFn(name = "stepMotorReadPosByMoveToZeroBlock", order = 7)
 	public Integer stepMotorReadPosByMoveToZeroBlock(StepMotorMId id, Integer actionOvertime) throws AppException {
 		stepMotorEnable(id, 1);
 		stepMotorEasyMoveToZeroBlock(id, actionOvertime);
@@ -71,25 +93,23 @@ public class StepMotorCtrlDriver {
 		return measurepos;
 	}
 
-	public void stepMotorEasySetCurrentPos(StepMotorMId id, int pos) throws AppException {
-		canBus.callcmd(id.mid, CmdId.step_motor_easy_set_current_pos, pos);
-	}
-
-	public void stepMotorEasyMoveToIo(StepMotorMId id, int io) throws AppException {
-		canBus.callcmd(id.mid, CmdId.step_motor_easy_move_to_io, io);
-	}
+	//	public void stepMotorEasySetCurrentPos(StepMotorMId id, Integer pos) throws AppException {
+	//		canBus.callcmd(id.mid, CmdId.step_motor_easy_set_current_pos, pos);
+	//	}
+	//
+	//	public void stepMotorEasyMoveToIo(StepMotorMId id, Integer io) throws AppException {
+	//		canBus.callcmd(id.mid, CmdId.step_motor_easy_move_to_io, io);
+	//	}
 
 	//	step_motor_easy_move_to_zero_point_quick
 
-	public void stepMotorEasyMoveToZeroPointQuick(StepMotorMId id) throws AppException {
-		canBus.callcmd(id.mid, CmdId.step_motor_easy_move_to_zero_point_quick);
-	}
-
+	@ExtApiFn(name = "stepMotorEasyMoveToZeroPointQuickBlock", order = 8)
 	public void stepMotorEasyMoveToZeroPointQuickBlock(StepMotorMId id, Integer actionOvertime) throws AppException {
 		stepMotorEasyMoveToZeroPointQuick(id);
 		canBus.waitForMod(id.mid, actionOvertime);
 	}
 
+	@ExtApiFn(name = "stepMotorReadIoState", order = 9)
 	public void stepMotorStop(StepMotorMId id) throws AppException {
 		canBus.callcmd(id.mid, CmdId.step_motor_stop, 0);
 	}
@@ -98,26 +118,50 @@ public class StepMotorCtrlDriver {
 		canBus.callcmd(id.mid, CmdId.step_motor_active_cfg);
 	}
 
-	public Boolean stepMotorReadIoState(StepMotorMId id, int ioindex) throws AppException {
+	@ExtApiFn(name = "stepMotorReadIoState", order = 10)
+	public Boolean stepMotorReadIoState(StepMotorMId id, Integer ioindex) throws AppException {
 		var packet = canBus.callcmd(id.mid, CmdId.step_motor_read_io_state, ioindex);
 		return packet.getContentI32(0) != 0;
 	}
 
-	public void stepMotorEasyMoveToEndPoint(StepMotorMId id) throws AppException {
-		canBus.callcmd(id.mid, CmdId.step_motor_easy_move_to_end_point);
-	}
 
+	@ExtApiFn(name = "stepMotorEasyMoveToZeroPointQuickBlock", order = 12)
 	public void stepMotorEasyMoveToEndPointBlock(StepMotorMId id, Integer actionOvertime) throws AppException {
 		stepMotorEasyMoveToEndPoint(id);
 		canBus.waitForMod(id.mid, actionOvertime);
 	}
 
-	public void stepMotorEasyReciprocatingMotion(StepMotorMId id, int startpos, int endpos, int times) throws AppException {
+
+	void stepMotorEasyReciprocatingMotion(StepMotorMId id, Integer startpos, Integer endpos, Integer times) throws AppException {
 		canBus.callcmd(id.mid, CmdId.step_motor_easy_reciprocating_motion, startpos, endpos, times);
 	}
 
-	public void stepMotorEasyReciprocatingMotionBlock(StepMotorMId id, int startpos, int endpos, int times, Integer actionOvertime) throws AppException {
+	@ExtApiFn(name = "stepMotorEasyReciprocatingMotionBlock", order = 13)
+	public void stepMotorEasyReciprocatingMotionBlock(StepMotorMId id, Integer startpos, Integer endpos, Integer times, Integer actionOvertime) throws AppException {
 		stepMotorEasyReciprocatingMotion(id, startpos, endpos, times);
 		canBus.waitForMod(id.mid, actionOvertime);
 	}
+
+	@ExtApiFn(name = "setReg", order = 14)
+	public void setReg(StepMotorMId id, StepMotorRegIndex regIndex, Integer val) throws AppException {
+		canBus.moduleSetReg(id.mid, regIndex.regIndex, val);
+	}
+
+	@ExtApiFn(name = "getReg", order = 15)
+	public Integer getReg(StepMotorMId id, StepMotorRegIndex regIndex) throws AppException {
+		return canBus.moduleGetReg(id.mid, regIndex.regIndex);
+	}
+
+	@ExtApiFn(name = "getAllReg", order = 16)
+	public ObjectNode getAllReg(StepMotorMId id) throws AppException {
+		ObjectNode node = ZJsonHelper.createObjectNode();
+		for (StepMotorRegIndex regIndex : StepMotorRegIndex.values()) {
+			Integer regVal = getReg(id, regIndex);
+			logger.info("read reg {} -> {}", regIndex,regVal);
+			node.put(regIndex.name(), getReg(id, regIndex));
+
+		}
+		return node;
+	}
+
 }

src/main/java/a8k/service/app/devicectrl/driver/type/StepMotorRegIndex.java

@@ -7,14 +7,13 @@ public enum StepMotorRegIndex {
 	kreg_module_type(RegIndex.kreg_module_type), // 模块类型
 	kreg_module_status(RegIndex.kreg_module_status), // 0idle,1busy,2error
 	kreg_module_errorcode(RegIndex.kreg_module_errorcode), // inited_flag
-	kreg_extboard_resetflag(RegIndex.kreg_extboard_resetflag),
 	/***********************************************************************************************************************
 	 * step_motor *
 	 ***********************************************************************************************************************/
 	kreg_step_motor_pos(RegIndex.kreg_step_motor_pos), // 机器人x坐标
 	kreg_step_motor_is_enable(RegIndex.kreg_step_motor_is_enable), // 是否使能
 	kreg_step_motor_dpos(RegIndex.kreg_step_motor_dpos), // 执行完上一条指令后的相对位移
-	kreg_step_motor_shift(RegIndex.kreg_step_motor_shift), // x偏移
+//	kreg_step_motor_shift(RegIndex.kreg_step_motor_shift), // x偏移
 	kreg_step_motor_shaft(RegIndex.kreg_step_motor_shaft), // x轴是否反转
 	kreg_step_motor_one_circle_pulse(RegIndex.kreg_step_motor_one_circle_pulse), // x轴一圈脉冲数
 	kreg_step_motor_one_circle_pulse_denominator(RegIndex.kreg_step_motor_one_circle_pulse_denominator), // 设置一圈脉冲数的分母

src/main/java/a8k/service/app/devicectrl/exdriver/MotorEnableExDriver.java

@@ -33,7 +33,12 @@ public class MotorEnableExDriver {
 		Integer val = enable ? 1 : 0;
 		miniServoDriver.miniServoEnable(MiniServoMId.ShakeModGripperSV, val);
 		miniServoDriver.miniServoEnable(MiniServoMId.ShakeModGripperYSV, val);
-		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModClampingM, val);
+		if (!enable) {
+			//TODO: 只有第一台样机，由于无法手拧，所以永不失能
+			// stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModClampingM, val);
+		} else {
+			stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModClampingM, val);
+		}
 		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModGripperZM, val);
 		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModShakeM, val);
 	}

src/main/java/a8k/service/app/devicectrl/exdriver/TubePreProcesModuleExDriver.java

@@ -46,15 +46,10 @@ public class TubePreProcesModuleExDriver {
 		miniServoDriver.miniServoMoveToBlock(MiniServoMId.ShakeModGripperSV, tubePreProcesPosParamMgr.getGripperServoOpenPos());
 	}
 
-	public void gripperSVCClose() throws AppException {
-		miniServoDriver.miniServoMoveToBlock(MiniServoMId.ShakeModGripperSV, tubePreProcesPosParamMgr.getGripperServoClosePos());
-	}
-
 	public void gripperSVClampTube() throws AppException {
 		miniServoDriver.miniServoMoveToBlock(MiniServoMId.ShakeModGripperSV, tubePreProcesPosParamMgr.getGripperServoTakeCapPos());
 	}
 
-
 	public void YSVMoveToTakeTubePos() throws AppException {
 		miniServoDriver.miniServoMoveToBlock(MiniServoMId.ShakeModGripperYSV, tubePreProcesPosParamMgr.getYServoTakeTubePos() - 100); //该动作是为了消除齿轮间隙
 		miniServoDriver.miniServoMoveToBlock(MiniServoMId.ShakeModGripperYSV, tubePreProcesPosParamMgr.getYServoTakeTubePos());
@@ -99,6 +94,10 @@ public class TubePreProcesModuleExDriver {
 		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.ShakeModClampingM, tubePreProcesPosParamMgr.getShakeClampMotorReleasePos(), actionOvertime);
 	}
 
+	public void clampingMReleaseTubeInFuzzyPos() throws AppException {
+		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.ShakeModClampingM, 90, actionOvertime);
+	}
+
 	public void shakeMMoveTo90() throws AppException {
 		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.ShakeModShakeM, 90, actionOvertime);
 	}
@@ -106,8 +105,7 @@ public class TubePreProcesModuleExDriver {
 	public void shakeMShake(Integer shakeDegree, Integer times) throws AppException {
 		var startPos = 90 - shakeDegree;
 		var endPos   = 90 + shakeDegree;
-		stepMotorCtrlDriver.stepMotorEasyReciprocatingMotion(StepMotorMId.ShakeModShakeM, startPos, endPos, times);
-		canBus.waitForMod(MId.ShakeModShakeM, actionOvertime);
+		stepMotorCtrlDriver.stepMotorEasyReciprocatingMotionBlock(StepMotorMId.ShakeModShakeM, startPos, endPos, times, actionOvertime);
 	}
 
 	//

src/main/java/a8k/service/app/devicectrl/param/calibration/HbotTipPosCalibration.java

@@ -6,6 +6,7 @@ import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
 import a8k.extapi_controler.utils.ExtApiFn;
 import a8k.extapi_controler.utils.ExtApiTab;
 import a8k.hardware.type.a8kcanprotocol.A8kEcode;
+import a8k.service.app.devicectrl.param.ext_param_mgr.HbotConsumableParamMgr;
 import a8k.service.app.devicectrl.param.param_mgr.HbotTipPosMgr;
 import a8k.service.app.devicectrl.driver.HbotDriver;
 import a8k.service.app.devicectrl.driver.PipetteCtrlDriver;
@@ -23,6 +24,7 @@ import jakarta.annotation.Resource;
 import org.aspectj.lang.annotation.Aspect;
 import org.slf4j.Logger;
 import org.springframework.stereotype.Component;
+import org.springframework.util.Assert;
 
 import java.util.List;
 import java.util.Map;
@@ -38,11 +40,14 @@ public class HbotTipPosCalibration {
 	HbotDriver        hbotDriver;
 
 	@Resource
-	HbotCtrlService      hbotCtrlService;
+	HbotCtrlService        hbotCtrlService;
 	@Resource
-	HbotTipPosMgr        hbotTipPosMgr;
+	HbotTipPosMgr          hbotTipPosMgr;
+	@Resource
+	HbotConsumableParamMgr hbotConsumableParamMgr;
 
-	Boolean stopFlag = false;
+	Boolean  stopFlag = false;
+	TipGroup tipGroup;
 
 	Boolean checkStopFlag() {
 		if (stopFlag) {
@@ -87,20 +92,24 @@ public class HbotTipPosCalibration {
 		hbotDriver.enable(0);
 	}
 
+
+	@ExtApiFn(name = "设置上下文", group = "设置上下文", order = 20)
+	public void setContext(TipGroup tipGroup) throws AppException {
+		this.tipGroup = tipGroup;
+	}
+
 	//
 	//	标定
 	//
 
-	TipGroup          tipGroup;
 	List<TipRefPoint> tipRefPosList;
 	Pos3d             tip000;
 	Double            tipdx;
 	Double            tipdy;
 
-
-	@ExtApiFn(name = "开始标定Tip坐标", group = "标定TIP坐标", order = 20)
-	public void startCalibrateTipPos(TipGroup tipGroup) throws AppException {
-		this.tipGroup = tipGroup;
+	@ExtApiFn(name = "开始标定Tip坐标", group = "辅助标定", order = 20)
+	public void startCalibrateTipPos() throws AppException {
+		Assert.isTrue(tipGroup != null, "请先设置上下文");
 		tipRefPosList = new java.util.ArrayList<>();
 		moveToZero();
 		disableModule();
@@ -109,8 +118,7 @@ public class HbotTipPosCalibration {
 		tip000 = new Pos3d(0, 0, 0);
 	}
 
-
-	@ExtApiFn(name = "添加Tip参考点", group = "标定TIP坐标", order = 21)
+	@ExtApiFn(name = "添加Tip参考点", group = "辅助标定", order = 21)
 	public Object addTipPosRefPoint(TipRowNum row, TipColumnNum columnNum) throws AppException {
 		enableModule();
 		Pos2d xypos = hbotDriver.readPos();
@@ -127,7 +135,7 @@ public class HbotTipPosCalibration {
 		return ret;
 	}
 
-	@ExtApiFn(name = "删除上一个Tip参考点", group = "标定TIP坐标", order = 22)
+	@ExtApiFn(name = "删除上一个Tip参考点", group = "辅助标定", order = 22)
 	public Object removeTipPosRefPoint() throws AppException {
 		if (!tipRefPosList.isEmpty()) {
 			tipRefPosList.remove(tipRefPosList.size() - 1);
@@ -138,7 +146,7 @@ public class HbotTipPosCalibration {
 	}
 
 
-	@ExtApiFn(name = "计算Tip坐标", group = "标定TIP坐标", order = 23)
+	@ExtApiFn(name = "计算Tip坐标", group = "辅助标定", order = 23)
 	public ObjectNode computeTipGroupPos() throws AppException {
 		TipRefPoint tip_ref_01_01 = tipRefPosList.stream().filter(tipRefPoint -> tipRefPoint.eq(TipRowNum.ROW00, TipColumnNum.Colu00)).findFirst().orElse(null);
 
@@ -189,43 +197,104 @@ public class HbotTipPosCalibration {
 	}
 
 
-	@ExtApiFn(name = "保存计算结果", group = "标定TIP坐标", order = 24)
+	@ExtApiFn(name = "保存计算结果", group = "辅助标定", order = 24)
 	public void saveTipGroupPos() throws AppException {
+		TipPosConfig tipPosConfig = getTipPosConfig();
+		if (tipdx == null || tipdx.isNaN() || tipdx.isInfinite()) {
+			tipdx = tipPosConfig.spaceingX;
+		}
+
+		if (tipdy == null || tipdy.isNaN() || tipdy.isInfinite()) {
+			tipdy = tipPosConfig.spaceingY;
+		}
+
 		hbotTipPosMgr.setTipGroupParam(tipGroup, tip000, tipdx, tipdy);
 	}
 
 
-	@ExtApiFn(name = "标定.丢Tip坐标", group = "标定.丢Tip坐标", order = 30)
-	public void calibrateDropTipPos() throws AppException {
-		enableModule();
-		pipetteCtrlDriver.zMotorMeasureDistance();
-		hbotTipPosMgr.setDropTipPos(new Pos3d(hbotDriver.readPos().x, hbotDriver.readPos().y, pipetteCtrlDriver.zMotorReadMeasureDistanceResult()));
-		disableModule();
+	@ExtApiFn(name = "获取当前Tip组的配置", group = "直接设置坐标", order = 31)
+	public TipPosConfig getTipPosConfig() {
+		return hbotTipPosMgr.getTipPosCfg(tipGroup);
+	}
+
+	@ExtApiFn(name = "设置Tip000坐标", group = "直接设置坐标", order = 32)
+	public void setTipPos000(Integer x, Integer y, Integer z) {
+		tip000 = new Pos3d(x, y, z);
+		TipPosConfig poscfg = hbotTipPosMgr.getTipPosCfg(tipGroup);
+		poscfg.tip000 = tip000;
+		hbotTipPosMgr.setTipPosCfg(tipGroup, poscfg);
+	}
+
+	@ExtApiFn(name = "设置Tip间距", group = "直接设置坐标", order = 33)
+	public void setSpacingXAndSpacingY(Double spacingX, Double spacingY) {
+		TipPosConfig poscfg = hbotTipPosMgr.getTipPosCfg(tipGroup);
+		poscfg.spaceingX = spacingX;
+		poscfg.spaceingY = spacingY;
+		hbotTipPosMgr.setTipPosCfg(tipGroup, poscfg);
 	}
 
 	//
 	//	校验
 	//
-	@ExtApiFn(name = "校验取Tip坐标", group = "校验", order = 300)
-	public void testTakeTip(TipGroup tipGroup) throws AppException {
+	@ExtApiFn(name = "校验取Tip坐标(全部坐标)", group = "校验", order = 300)
+	public void testTakeTipAll(TipGroup tipGroup) throws AppException {
 		resetStopFlag();
 		enableModule();
+		pipetteCtrlDriver.zMotorMoveZeroBlock();
+
 		for (int i = 0; i < AppConstant.TIP_NUM; i++) {
 			hbotCtrlService.testTakeTip(tipGroup, i);
+			Pos3d       tipPos      = hbotConsumableParamMgr.getTipPos(tipGroup, i);
+			TipRefPoint tipRefPoint = new TipRefPoint(TipRowNum.values()[i / 12], TipColumnNum.values()[i % 12], tipPos);
+			if (tipRefPosList != null)
+				tipRefPosList.add(tipRefPoint);
 			if (checkStopFlag())
 				return;
 		}
 	}
 
-	@ExtApiFn(name = "校验丢Tip", group = "校验", order = 301)
-	public void testDropTipPos() throws AppException {
-		hbotCtrlService.dropTip();
+	@ExtApiFn(name = "校验取Tip坐标(四角坐标)", group = "校验", order = 300)
+	public void testTakeTipAround(TipGroup tipGroup) throws AppException {
+		resetStopFlag();
+		enableModule();
+		pipetteCtrlDriver.zMotorMoveZeroBlock();
+
+		List<Integer> testPoint = new java.util.ArrayList<>();
+		testPoint.addAll(List.of(0, 1, 10, 11));
+		testPoint.addAll(List.of(12, 13, 22, 23));
+		testPoint.addAll(List.of(12 * 8, 12 * 8 + 1, 12 * 8 + 10, 12 * 8 + 11));
+		testPoint.addAll(List.of(12 * 9, 12 * 9 + 1, 12 * 9 + 10, 12 * 9 + 11));
+
+		for (Integer i : testPoint) {
+			hbotCtrlService.testTakeTip(tipGroup, i);
+			Pos3d       tipPos      = hbotConsumableParamMgr.getTipPos(tipGroup, i);
+			TipRefPoint tipRefPoint = new TipRefPoint(TipRowNum.values()[i / 12], TipColumnNum.values()[i % 12], tipPos);
+			if (tipRefPosList != null)
+				tipRefPosList.add(tipRefPoint);
+			if (checkStopFlag())
+				return;
+		}
+
 	}
 
+
 	@ExtApiFn(name = "停止校验", group = "校验", order = 304)
 	public void stopTest() throws AppException {
 		setStopFlag();
 	}
 
 
+	@ExtApiFn(name = "标定.丢Tip坐标", group = "标定.丢Tip坐标", order = 500)
+	public void calibrateDropTipPos() throws AppException {
+		enableModule();
+		pipetteCtrlDriver.zMotorMeasureDistance();
+		hbotTipPosMgr.setDropTipPos(new Pos3d(hbotDriver.readPos().x, hbotDriver.readPos().y, pipetteCtrlDriver.zMotorReadMeasureDistanceResult()));
+		disableModule();
+	}
+
+	@ExtApiFn(name = "校验丢Tip", group = "标定.丢Tip坐标", order = 501)
+	public void testDropTipPos() throws AppException {
+		hbotCtrlService.dropTip();
+	}
+
 }

src/main/java/a8k/service/app/devicectrl/param/calibration/OptModuleParamCalibration.java

@@ -9,8 +9,8 @@ import a8k.service.app.devicectrl.driver.OptModuleDriver;
 import a8k.service.app.devicectrl.driver.StepMotorCtrlDriver;
 import a8k.service.app.devicectrl.driver.type.StepMotorMId;
 import a8k.service.app.devicectrl.exdriver.MotorEnableExDriver;
-import a8k.service.app.devicectrl.param.param_mgr.OptModuleParamsMgr;
-import a8k.service.app.devicectrl.param.type.OptModuleParam;
+import a8k.service.app.devicectrl.param.param_mgr.OptModuleExtParamsMgr;
+import a8k.service.app.devicectrl.param.type.OptModuleExtParam;
 import a8k.service.db.type.Parameter;
 import a8k.service.db.type.a8kidcard.zenum.A8kOptType;
 import a8k.type.*;
@@ -42,7 +42,7 @@ public class OptModuleParamCalibration {
 	Integer actionOvertime = 5000;
 
 	@Resource
-	OptModuleParamsMgr optModuleParamsMgr;
+	OptModuleExtParamsMgr optModuleExtParamsMgr;
 
 	@Resource
 	MotorEnableExDriver      motorEnableExDriver;
@@ -58,7 +58,7 @@ public class OptModuleParamCalibration {
 
 	@ExtApiFn(name = "获得参数", group = "基础", order = 1)
 	public List<Parameter> getParams() throws AppException {
-		return optModuleParamsMgr.getParams();
+		return optModuleExtParamsMgr.getParams();
 	}
 
 	@ExtApiFn(name = "归零", group = "测试工具", order = 11)
@@ -137,7 +137,7 @@ public class OptModuleParamCalibration {
 	public void setCurrentAsScanRefPos() throws AppException {
 		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.OptModScannerM, 1);
 		Integer pos = stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.OptModScannerM, 10000);
-		optModuleParamsMgr.setOptParam(OptModuleParam.OptScanRefPos, pos);
+		optModuleExtParamsMgr.setOptParam(OptModuleExtParam.OptScanRefPos, pos);
 	}
 
 	//FOptScanShift
@@ -146,22 +146,22 @@ public class OptModuleParamCalibration {
 
 	@ExtApiFn(name = "设置F光学扫描偏移", group = "F光学", order = 300)
 	public void setFOptScanShift(Integer shift) {
-		optModuleParamsMgr.setOptParam(OptModuleParam.FOptScanShift, shift);
+		optModuleExtParamsMgr.setOptParam(OptModuleExtParam.FOptScanShift, shift);
 	}
 
 	@ExtApiFn(name = "设置F光学发射强度[1->255]", group = "F光学", order = 301)
 	public void setFOptEmissionIntensity(Integer val) {
-		optModuleParamsMgr.setOptParam(OptModuleParam.FOptEmissionIntensity, val);
+		optModuleExtParamsMgr.setOptParam(OptModuleExtParam.FOptEmissionIntensity, val);
 	}
 
 	@ExtApiFn(name = "设置F光学接收放大倍数[1.1->47]", group = "F光学", order = 302)
 	public void setFOptScanAmplVal(Double val) {
-		optModuleParamsMgr.setOptParam(OptModuleParam.FOptScanGainVal, val);
+		optModuleExtParamsMgr.setOptParam(OptModuleExtParam.FOptScanGainVal, val);
 	}
 
 	@ExtApiFn(name = "F光学扫描", group = "扫描", order = 303)
 	public A8kScanCurve FOptScan() throws AppException {
-		Double  scanGain    = optModuleParamsMgr.getScanGain(A8kOptType.FOPT);
+		Double  scanGain    = optModuleExtParamsMgr.getScanGain(A8kOptType.FOPT);
 		Integer rawScanGain = OptGainConvert.scanerToRawGain(A8kOptType.FOPT, scanGain);
 		var     result      = optScanModuleCtrlService.startOptScan(A8kOptType.FOPT, rawScanGain);
 		return createScanCurve1200Point(result);
@@ -173,22 +173,22 @@ public class OptModuleParamCalibration {
 
 	@ExtApiFn(name = "设置T光学扫描偏移", group = "T光学", order = 400)
 	public void setTOptScanShift(Integer shift) {
-		optModuleParamsMgr.setOptParam(OptModuleParam.TOptScanShift, shift);
+		optModuleExtParamsMgr.setOptParam(OptModuleExtParam.TOptScanShift, shift);
 	}
 
 	@ExtApiFn(name = "设置T光学发射强度[1->255]", group = "T光学", order = 401)
 	public void setTOptEmissionIntensity(Integer val) {
-		optModuleParamsMgr.setOptParam(OptModuleParam.TOptEmissionIntensity, val);
+		optModuleExtParamsMgr.setOptParam(OptModuleExtParam.TOptEmissionIntensity, val);
 	}
 
 	@ExtApiFn(name = "设置T光学接收放大倍数[0.5->21.7]", group = "T光学", order = 402)
 	public void setTOptScanAmplVal(Double val) {
-		optModuleParamsMgr.setOptParam(OptModuleParam.TOptScanGainVal, val);
+		optModuleExtParamsMgr.setOptParam(OptModuleExtParam.TOptScanGainVal, val);
 	}
 
 	@ExtApiFn(name = "T光学扫描", group = "扫描", order = 403)
 	public A8kScanCurve TOptScan() throws AppException {
-		Double  scanGain    = optModuleParamsMgr.getScanGain(A8kOptType.TOPT);
+		Double  scanGain    = optModuleExtParamsMgr.getScanGain(A8kOptType.TOPT);
 		Integer rawScanGain = OptGainConvert.scanerToRawGain(A8kOptType.TOPT, scanGain);
 		var     result      = optScanModuleCtrlService.startOptScan(A8kOptType.TOPT, rawScanGain);
 		return createScanCurve1200Point(result);

src/main/java/a8k/service/app/devicectrl/param/calibration/TubePreProcesPosCalibration.java

@@ -15,8 +15,9 @@ import a8k.service.app.devicectrl.param.param_mgr.TubePreProcesPosParamMgr;
 import a8k.type.TubePreProcessGripperPos;
 import a8k.type.TubePreProcessTubeClamp;
 import a8k.type.TubePreProcessYPos;
-import a8k.type.TubePreProcessZAxisPos;
+import a8k.service.app.devicectrl.param.type.TubePreProcessZAxisPos;
 import a8k.type.exception.AppException;
+import a8k.utils.ZJsonHelper;
 import jakarta.annotation.Resource;
 import org.springframework.stereotype.Component;
 
@@ -47,6 +48,8 @@ public class TubePreProcesPosCalibration {
 	public void deviceReset() throws AppException {
 		enableModule();
 		motorMoveZeroExDriver.preProcessModuleMoveToZero();
+		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.ShakeModShakeM, 90, 5000);
+		tubePreProcesModuleExDriver.clampingMReleaseTubeInFuzzyPos();
 	}
 
 	@ExtApiFn(name = "使能相关模块", group = "测试工具", order = 2)
@@ -65,142 +68,211 @@ public class TubePreProcesPosCalibration {
 		return posMgr.getParams();
 	}
 
+	@ExtApiFn(name = "测量Z轴", group = "辅助工具", order = 10)
+	public Integer measureZAxis() throws AppException {
+		enableModule();
+		Integer zpos = stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, 10000);
+		disableModule();
+		return zpos;
+	}
 
-	//TubePreProcessYPos
-	//TubePreProcessZAxisPos
-	//TubePreProcessGripperPos
-	//TubePreProcessTubeClamp
-
+	@ExtApiFn(name = "<试管夹具>夹住试管", group = "辅助工具", order = 11)
+	public void clampTube() throws AppException {
+		tubePreProcesModuleExDriver.clampingMclampTube();
+	}
 
+	@ExtApiFn(name = "<试管夹具>松开试管", group = "辅助工具", order = 12)
+	public void unclampTube() throws AppException {
+		tubePreProcesModuleExDriver.clampingMReleaseTube();
+	}
+	//  设置
+	//    1. 设置试管帽夹爪冗余(0.1mm)
 	//
-	//	标定坐标
+	//	基础标定
+	//    1. 拧开试管夹具
+	//    2. 标定当前位置为试管夹具松开位置
+	//    3. 掰动试管帽夹爪，让试管帽夹爪处于张开位置
+	//    4. 标定当前位置为试管帽夹爪松开位置
+	//
+	//  扩展标定
+	//    1. 取一个高试管放入试管架中，挪动设备到取试管的位置
+	//    2. 点击标定取高试管位置
+	//    3. 取一个低试管放入试管架中，挪动设备到取试管的位置
+	//    4. 点击标定取低试管位置
+	//    5. 取一个高试管放到摇匀试管的位置，挪动设备到摇匀试管的位置（注意试管夹爪下表面和试管帽接触）
+	//    6. 点击标定试管摇匀位置
+	//
+	//  辅助测量
+	//		读取当前Z轴高度
 	//
-	@ExtApiFn(name = "标定前后移动伺服坐标", group = "标定", order = 100)
-	public Integer calibrateTubePreProcessYPos(TubePreProcessYPos posType) throws AppException {
-		Integer pos = miniServoDriver.miniServoReadPos(MiniServoMId.ShakeModGripperYSV);
-		posMgr.setPos(posType, pos);
-		return pos;
-	}
 
-	@ExtApiFn(name = "标定Z轴坐标", group = "标定", order = 101)
-	public Integer calibrateTubePreProcessZAxisPos(TubePreProcessZAxisPos posType) throws AppException {
+	public Integer readShakeModClampingMPos() throws AppException {
 		enableModule();
-		Integer pos = stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, 10000);
-		posMgr.setPos(posType, pos);
+		Integer pos = stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.ShakeModClampingM, 10000);
 		disableModule();
 		return pos;
 	}
 
-	@ExtApiFn(name = "标定夹爪伺服坐标", group = "标定", order = 102)
-	public Integer calibrateTubePreProcessGripperPos(TubePreProcessGripperPos posType) throws AppException {
-		enableModule();
+
+	@ExtApiFn(name = "设置试管帽夹爪冗余(0.1mm)", group = "设置", order = 100)
+	public void setTubeCapGripperRedundancy(Integer val) throws AppException {
+		posMgr.setPos(TubePreProcessGripperPos.GripperRedundancyHeight, val);
+	}
+
+	@ExtApiFn(name = "标定<试管帽夹爪>松开位置", group = "基础标定", order = 110)
+	public Integer calibrateTubeCapGripperOpenPos() throws AppException {
 		Integer pos = miniServoDriver.miniServoReadPos(MiniServoMId.ShakeModGripperSV);
-		posMgr.setPos(posType, pos);
-		disableModule();
+		posMgr.setPos(TubePreProcessGripperPos.GripperServoOpenPos, pos);
+		return pos;
+	}
+
+	@ExtApiFn(name = "标定<试管夹具>松开位置", group = "基础标定", order = 111)
+	public Integer calibrateTubeCapGripperClosePos() throws AppException {
+		Integer pos = readShakeModClampingMPos();
+		posMgr.setPos(TubePreProcessTubeClamp.ShakeClampMotorReleasePos, pos);
 		return pos;
 	}
 
-	@ExtApiFn(name = "标定试管夹紧伺服坐标", group = "标定", order = 103)
-	public Integer calibrateTubePreProcessTubeClamp(TubePreProcessTubeClamp posType) throws AppException {
+	public Object calibrateCurPosAsTakeTubePos(Boolean isHighTube) throws AppException {
 		enableModule();
-		Integer pos = stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.ShakeModClampingM, 10000);
-		if (posType.equals(TubePreProcessTubeClamp.ShakeClampMotorClampPos)) {
-			posMgr.setPos(posType, pos - 2);
+		//1. 读取夹爪位置
+		Integer gripperPos = miniServoDriver.miniServoReadPos(MiniServoMId.ShakeModGripperSV);
+		//2. 读取Y轴位置
+		Integer ySVPos = miniServoDriver.miniServoReadPos(MiniServoMId.ShakeModGripperYSV);
+		//2. 夹爪松开
+		tubePreProcesModuleExDriver.gripperSVOpen();
+		//3. Z轴归零，并读取当前位置
+		Integer zpos = stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, 10000);
+
+		posMgr.setPos(TubePreProcessGripperPos.GripperServoTakeCapPos, gripperPos);
+		posMgr.setPos(TubePreProcessYPos.YServoTakeTubePos, ySVPos);
+		if (isHighTube) {
+			posMgr.setPos(TubePreProcessZAxisPos.ZMotorTakeHTubePos, zpos);
 		} else {
-			posMgr.setPos(posType, pos);
+			posMgr.setPos(TubePreProcessZAxisPos.ZMotorTakeSTubePos, zpos);
 		}
+
 		disableModule();
-		return pos;
+		var ObNode = ZJsonHelper.createObjectNode();
+		ObNode.put("gripperSVPos", gripperPos);
+		ObNode.put("ySVPos", ySVPos);
+		ObNode.put("zMpos", zpos);
+		return ObNode;
 	}
 
-	//
-	//	夹爪标定,校准,校验
-	//
-	@ExtApiFn(name = "<校验>张开", group = "校验.夹爪", order = 206)
-	public void gripperSVOpen() throws AppException {
-		miniServoDriver.miniServoEnable(MiniServoMId.ShakeModGripperSV, 1);
-		tubePreProcesModuleExDriver.gripperSVOpen();
+
+	@ExtApiFn(name = "标定<取高试管>位置", group = "扩展标定", order = 200)
+	public Object calibrateCurPosAsTakeHTubePos() throws AppException {
+		return calibrateCurPosAsTakeTubePos(true);
 	}
 
-	@ExtApiFn(name = "<校验>夹紧", group = "校验.夹爪", order = 205)
-	public void gripperSVCClose() throws AppException {
-		miniServoDriver.miniServoEnable(MiniServoMId.ShakeModGripperSV, 1);
-		tubePreProcesModuleExDriver.gripperSVCClose();
+	@ExtApiFn(name = "标定<取低试管>位置", group = "扩展标定", order = 201)
+	public Object calibrateCurPosAsTakeSTubePos() throws AppException {
+		return calibrateCurPosAsTakeTubePos(false);
 	}
 
-	@ExtApiFn(name = "<校验>夹住试管", group = "校验.夹爪", order = 205)
-	public void gripperSVClampTube() throws AppException {
-		miniServoDriver.miniServoEnable(MiniServoMId.ShakeModGripperSV, 1);
-		tubePreProcesModuleExDriver.gripperSVClampTube();
+	@ExtApiFn(name = "标定<摇匀>位置", group = "扩展标定", order = 202)
+	public Object calibrateCurPosAsShakePos() throws AppException {
+		//
+		//1. 读取Y位置
+		Integer ySVPos = miniServoDriver.miniServoReadPos(MiniServoMId.ShakeModGripperYSV);
+		//2. 试管夹具张开一点
+		stepMotorCtrlDriver.stepMotorEasyMoveByBlock(StepMotorMId.ShakeModClampingM, 10, overtime);
+		//3. Z轴归零，并读取当前位置
+		Integer zpos = stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, 10000);
+		//4. 夹具归零并读取位置
+		Integer clampPos = readShakeModClampingMPos();
+		clampPos = clampPos - 10 - 2;
+
+		posMgr.setPos(TubePreProcessZAxisPos.ZMotorShakeTubePos, zpos);
+		posMgr.setPos(TubePreProcessTubeClamp.ShakeClampMotorClampPos, clampPos);
+		posMgr.setPos(TubePreProcessYPos.YServoShakePos, ySVPos);
+
+		var obNode = ZJsonHelper.createObjectNode();
+		obNode.put("ySVPos", ySVPos);
+		obNode.put("zMpos", zpos);
+		obNode.put("clampPos", clampPos);
+		return obNode;
 	}
 
+
 	//
-	//YSV        : 设置参考点,标定,验证
+	//	夹爪标定,校准,校验
 	//
-	@ExtApiFn(name = "<校验>移动到摇匀位", group = "校验.YSV", order = 305)
-	public void YAxixServoShake() throws AppException {
-		miniServoDriver.miniServoEnable(MiniServoMId.ShakeModGripperYSV, 1);
-		tubePreProcesModuleExDriver.YSVMoveToShakePos();
-	}
+	//	@ExtApiFn(name = "<校验>张开", group = "校验.夹爪", order = 306)
+	//	public void gripperSVOpen() throws AppException {
+	//		miniServoDriver.miniServoEnable(MiniServoMId.ShakeModGripperSV, 1);
+	//		tubePreProcesModuleExDriver.gripperSVOpen();
+	//	}
+	//
+	//	@ExtApiFn(name = "<校验>夹住试管帽", group = "校验.夹爪", order = 305)
+	//	public void gripperSVClampTube() throws AppException {
+	//		miniServoDriver.miniServoEnable(MiniServoMId.ShakeModGripperSV, 1);
+	//		tubePreProcesModuleExDriver.gripperSVClampTube();
+	//	}
 
-	@ExtApiFn(name = "<校验>移动到取试管位", group = "校验.YSV", order = 306)
-	public void YAxixServoTakeTube() throws AppException {
-		miniServoDriver.miniServoEnable(MiniServoMId.ShakeModGripperYSV, 1);
-		tubePreProcesModuleExDriver.YSVMoveToTakeTubePos();
-	}
 
-	@ExtApiFn(name = "<校验>移动到待机位", group = "校验.YSV", order = 307)
-	public void YAxixServoMoveToStandyPos() throws AppException {
-		miniServoDriver.miniServoEnable(MiniServoMId.ShakeModGripperYSV, 1);
-		tubePreProcesModuleExDriver.YSVMoveToStandyPos();
-	}
+	//
+	//YSV        : 设置参考点,标定,验证
+	//
+	//	@ExtApiFn(name = "<校验>移动到摇匀位", group = "校验.YSV", order = 405)
+	//	public void YAxixServoShake() throws AppException {
+	//		miniServoDriver.miniServoEnable(MiniServoMId.ShakeModGripperYSV, 1);
+	//		tubePreProcesModuleExDriver.YSVMoveToShakePos();
+	//	}
+	//
+	//	@ExtApiFn(name = "<校验>移动到取试管位", group = "校验.YSV", order = 406)
+	//	public void YAxixServoTakeTube() throws AppException {
+	//		miniServoDriver.miniServoEnable(MiniServoMId.ShakeModGripperYSV, 1);
+	//		tubePreProcesModuleExDriver.YSVMoveToTakeTubePos();
+	//	}
+	//
+	//	@ExtApiFn(name = "<校验>移动到待机位", group = "校验.YSV", order = 407)
+	//	public void YAxixServoMoveToStandyPos() throws AppException {
+	//		miniServoDriver.miniServoEnable(MiniServoMId.ShakeModGripperYSV, 1);
+	//		tubePreProcesModuleExDriver.YSVMoveToStandyPos();
+	//	}
 	//
 	//ZM   : 标定,验证
 	//
 
-	@ExtApiFn(name = "<校验>取试管", group = "校验.ZM", order = 405)
-	public void takeTube(Boolean isHTube) throws AppException {
-		enableModule();
-		tubePreProcesModuleExDriver.takeTubeFromTubeholder(isHTube);
-	}
-
-	@ExtApiFn(name = "<校验>放试管", group = "校验.ZM", order = 406)
-	public void putTube(Boolean isHTube) throws AppException {
-		enableModule();
-		tubePreProcesModuleExDriver.putTubeToTubeholder(isHTube);
-	}
-
-	@ExtApiFn(name = "<校验>Z轴移动到取试管位置", group = "校验.ZM", order = 407)
-	public void zMotorMoveToTakeHTubePos(Boolean isHTube) throws AppException {
-		enableModule();
-		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, overtime);
-		tubePreProcesModuleExDriver.zMotorMoveToTakeHTubePos(isHTube);
-	}
-
-	@ExtApiFn(name = "<校验>Z轴移动到摇匀位置", group = "校验.ZM", order = 408)
-	public void zMotorMoveToShakeTubePos() throws AppException {
-		enableModule();
-		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, overtime);
-		tubePreProcesModuleExDriver.zMotorMoveToShakeTubePos();
-	}
-
-	@ExtApiFn(name = "<校验>夹紧", group = "校验.夹紧", order = 503)
-
-	public void clampTube() throws AppException {
-		tubePreProcesModuleExDriver.clampingMclampTube();
-	}
+	//	@ExtApiFn(name = "<校验>取试管", group = "校验.ZM", order = 505)
+	//	public void takeTube(Boolean isHTube) throws AppException {
+	//		enableModule();
+	//		tubePreProcesModuleExDriver.takeTubeFromTubeholder(isHTube);
+	//	}
+	//
+	//	@ExtApiFn(name = "<校验>放试管", group = "校验.ZM", order = 506)
+	//	public void putTube(Boolean isHTube) throws AppException {
+	//		enableModule();
+	//		tubePreProcesModuleExDriver.putTubeToTubeholder(isHTube);
+	//	}
+	//
+	//	@ExtApiFn(name = "<校验>Z轴移动到取试管位置", group = "校验.ZM", order = 507)
+	//	public void zMotorMoveToTakeHTubePos(Boolean isHTube) throws AppException {
+	//		enableModule();
+	//		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, overtime);
+	//		tubePreProcesModuleExDriver.zMotorMoveToTakeHTubePos(isHTube);
+	//	}
+	//
+	//	@ExtApiFn(name = "<校验>Z轴移动到摇匀位置", group = "校验.ZM", order = 508)
+	//	public void zMotorMoveToShakeTubePos() throws AppException {
+	//		enableModule();
+	//		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, overtime);
+	//		tubePreProcesModuleExDriver.zMotorMoveToShakeTubePos();
+	//	}
 
-	@ExtApiFn(name = "<校验>释放", group = "校验.夹紧", order = 504)
-	public void unclampTube() throws AppException {
-		tubePreProcesModuleExDriver.clampingMReleaseTube();
-	}
 
-	@ExtApiFn(name = "<校验>全部流程", group = "校验.全部", order = 600)
+	@ExtApiFn(name = "<校验>全部流程", group = "校验.全部", order = 700)
 	public void testAll(Boolean isHTube) throws AppException {
+		deviceReset();
 		controler.takeTubeFromTubeholderToShakePos(isHTube);
 		controler.shakeTube(45, 5);
 		controler.takeTubeCap(isHTube);
 		controler.putbakTubeCapAndPutbakTubeToTubeHolder(isHTube);
+		tubePreProcesModuleExDriver.clampingMReleaseTubeInFuzzyPos();
+		disableModule();
+
 	}
 }
 

src/main/java/a8k/service/app/devicectrl/param/param_mgr/HbotTipPosMgr.java

@@ -2,6 +2,7 @@ package a8k.service.app.devicectrl.param.param_mgr;
 
 import a8k.service.app.devicectrl.param.param_mgr.base.ParamMgr;
 import a8k.service.app.devicectrl.param.type.HbotTipPosParam;
+import a8k.type.TipPosConfig;
 import a8k.type.cfg.Pos3d;
 import a8k.type.type.TipGroup;
 import jakarta.annotation.PostConstruct;
@@ -18,7 +19,6 @@ public class HbotTipPosMgr extends ParamMgr {
 	static final Logger logger = LoggerFactory.getLogger(HbotTipPosMgr.class);
 
 
-
 	@PostConstruct
 	void initialize() {
 		for (HbotTipPosParam param : HbotTipPosParam.values()) {
@@ -35,6 +35,9 @@ public class HbotTipPosMgr extends ParamMgr {
 		HbotTipPosParam tip000Pos = null;
 		HbotTipPosParam tipDxPos  = null;
 		HbotTipPosParam tipDyPos  = null;
+		if(tip000 == null) tip000 = new Pos3d(0, 0, 0);
+		if(dx == null) dx = 0.0;
+		if(dy == null) dy = 0.0;
 
 		if (tipGroup == TipGroup.GROUP0) {
 			tip000Pos = HbotTipPosParam.TipGroup0_000Pos;
@@ -43,7 +46,7 @@ public class HbotTipPosMgr extends ParamMgr {
 		} else if (tipGroup == TipGroup.GROUP1) {
 			tip000Pos = HbotTipPosParam.TipGroup1_000Pos;
 			tipDxPos  = HbotTipPosParam.TipGroup1_SpaceingX;
-			tipDyPos  = HbotTipPosParam.TipGroup2_SpaceingY;
+			tipDyPos  = HbotTipPosParam.TipGroup1_SpaceingY;
 		} else if (tipGroup == TipGroup.GROUP2) {
 			tip000Pos = HbotTipPosParam.TipGroup2_000Pos;
 			tipDxPos  = HbotTipPosParam.TipGroup2_SpaceingX;
@@ -57,7 +60,11 @@ public class HbotTipPosMgr extends ParamMgr {
 		setParam(tipDyPos, dy);
 	}
 
-	public Pos3d getTipPos(TipGroup tipGroup, Integer tipoff) {
+	public void setTipPosCfg(TipGroup tipGroup, TipPosConfig cfg) {
+		setTipGroupParam(tipGroup, cfg.tip000, cfg.spaceingX, cfg.spaceingY);
+	}
+
+	public TipPosConfig getTipPosCfg(TipGroup tipGroup) {
 		Pos3d  tip000 = null;
 		Double dx     = 0.0;
 		Double dy     = 0.0;
@@ -70,32 +77,48 @@ public class HbotTipPosMgr extends ParamMgr {
 		} else if (tipGroup == TipGroup.GROUP1) {
 			tip000 = getParam(HbotTipPosParam.TipGroup1_000Pos, Pos3d.class);
 			dx     = getParam(HbotTipPosParam.TipGroup1_SpaceingX, Double.class);
-			dy     = getParam(HbotTipPosParam.TipGroup2_SpaceingY, Double.class);
+			dy     = getParam(HbotTipPosParam.TipGroup1_SpaceingY, Double.class);
 		} else if (tipGroup == TipGroup.GROUP2) {
 			tip000 = getParam(HbotTipPosParam.TipGroup2_000Pos, Pos3d.class);
 			dx     = getParam(HbotTipPosParam.TipGroup2_SpaceingX, Double.class);
 			dy     = getParam(HbotTipPosParam.TipGroup2_SpaceingY, Double.class);
 		}
-		Assert.isTrue(tip000 != null, "tip000 != null");
-		Assert.isTrue(dx != null, "dx != null");
-		Assert.isTrue(dy != null, "dy != null");
+
+		TipPosConfig cfg = new TipPosConfig();
+		if (tip000 == null) {
+			tip000 = new Pos3d(0, 0, 0);
+		}
+		cfg.tip000    = tip000;
+		cfg.spaceingX = dx;
+		cfg.spaceingY = dy;
+		cfg.tipGroup = tipGroup;
+		return cfg;
+	}
+
+
+	public Pos3d getTipPos(TipGroup tipGroup, Integer tipoff) {
+		TipPosConfig cfg = getTipPosCfg(tipGroup);
+
+		Assert.isTrue(cfg.tip000 != null, "tip000 != null");
+		Assert.isTrue(cfg.spaceingX != null, "dx != null");
+		Assert.isTrue(cfg.spaceingY != null, "dy != null");
 
 		int xoff = tipoff % 12;
 		int yoff = tipoff / 12;
 
-		double x = tip000.x + xoff * dx;
-		double y = tip000.y + yoff * dy;
-		double z = tip000.z;
+		double x = cfg.tip000.x + xoff * cfg.spaceingX;
+		double y = cfg.tip000.y + yoff * cfg.spaceingY;
+		double z = cfg.tip000.z;
 
 		return new Pos3d((int) x, (int) y, (int) z);
 	}
 
 
-	public void setDropTipPos(Pos3d pos){
+	public void setDropTipPos(Pos3d pos) {
 		setParam(HbotTipPosParam.DropTipPos, pos);
 	}
 
-	public Pos3d getDropTipPos(){
+	public Pos3d getDropTipPos() {
 		return getParam(HbotTipPosParam.DropTipPos, Pos3d.class);
 	}
 }

src/main/java/a8k/service/app/devicectrl/param/param_mgr/OptModuleExtParamsMgr.java

@@ -0,0 +1,59 @@
+package a8k.service.app.devicectrl.param.param_mgr;
+
+
+import a8k.service.app.devicectrl.param.param_mgr.base.ParamMgr;
+import a8k.service.app.devicectrl.param.type.OptModuleExtParam;
+import a8k.service.app.devicectrl.param.type.OptModuleExtParam;
+import a8k.service.db.type.a8kidcard.zenum.A8kOptType;
+import jakarta.annotation.PostConstruct;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.stereotype.Component;
+
+/**
+ * HBOT二维码扫描坐标参数
+ */
+@Component
+public class OptModuleExtParamsMgr extends ParamMgr {
+	static final Logger logger = LoggerFactory.getLogger(OptModuleExtParamsMgr.class);
+
+
+	@PostConstruct
+	void initialize() {
+		for (OptModuleExtParam pos : OptModuleExtParam.values()) {
+			setParamChName(pos, pos.chName);
+		}
+	}
+
+	public void setOptParam(OptModuleExtParam pos, Object value) {
+		setParam(pos, value);
+	}
+
+	public Integer getOptScanStartPos(A8kOptType type) {
+		Integer shift = switch (type) {
+			case TOPT -> getParam(OptModuleExtParam.TOptScanShift, Integer.class);
+			case FOPT -> getParam(OptModuleExtParam.FOptScanShift, Integer.class);
+		};
+
+		Integer scanStartPos = getParam(OptModuleExtParam.OptScanRefPos, Integer.class);
+		scanStartPos = scanStartPos + shift;
+
+		return scanStartPos;
+	}
+
+	public Double getScanGain(A8kOptType type) {
+		return switch (type) {
+			case TOPT -> getParam(OptModuleExtParam.TOptScanGainVal, Double.class);
+			case FOPT -> getParam(OptModuleExtParam.FOptScanGainVal, Double.class);
+		};
+	}
+
+	public Integer getOptEmissionIntensity(A8kOptType type) {
+		return switch (type) {
+			case TOPT -> getParam(OptModuleExtParam.TOptEmissionIntensity, Integer.class);
+			case FOPT -> getParam(OptModuleExtParam.FOptEmissionIntensity, Integer.class);
+		};
+	}
+
+}
+

src/main/java/a8k/service/app/devicectrl/param/param_mgr/OptModuleParamsMgr.java

@@ -30,8 +30,7 @@ public class OptModuleParamsMgr extends ParamMgr {
 		setParam(OptModuleParam.OptScanerDropPos, -349);
 		setParam(OptModuleParam.OptScanerScandbyPos, 305);
 		setParam(OptModuleParam.OptScanerScandbyPos, 4000);
-		setParam(OptModuleParam.TOptScanShift, 277);
-		setParam(OptModuleParam.FOptScanShift, 1441);
+
 	}
 
 
@@ -40,59 +39,6 @@ public class OptModuleParamsMgr extends ParamMgr {
 	}
 
 
-	//	public void setPullerTargetPos(Integer pos) {
-	//		setParam(OptModuleParam.PullerTargetPos, pos);
-	//	}
-	//
-	//	public void setOptScanerDropPos(Integer pos) {
-	//		setParam(OptModuleParam.OptScanerDropPos, pos);
-	//	}
-	//
-	//	public void setOptScanerScandbyPos(Integer pos) {
-	//		setParam(OptModuleParam.OptScanerScandbyPos, pos);
-	//	}
-	//
-	//
-	//	public void setOptScanRefPos(Integer pos) {
-	//		setParam(OptModuleParam.OptScanRefPos, pos);
-	//	}
-	//
-	//	public void setTOptScanShift(Integer pos) {
-	//		setParam(OptModuleParam.TOptScanShift, pos);
-	//	}
-	//
-	//	public void setFOptScanShift(Integer pos) {
-	//		setParam(OptModuleParam.FOptScanShift, pos);
-	//	}
-
-
-	public Integer getOptScanStartPos(A8kOptType type) {
-		Integer shift = switch (type) {
-			case TOPT -> getParam(OptModuleParam.TOptScanShift, Integer.class);
-			case FOPT -> getParam(OptModuleParam.FOptScanShift, Integer.class);
-		};
-
-		Integer scanStartPos = getParam(OptModuleParam.OptScanRefPos, Integer.class);
-		scanStartPos = scanStartPos + shift;
-
-		return scanStartPos;
-	}
-
-	public Double getScanGain(A8kOptType type) {
-		return switch (type) {
-			case TOPT -> getParam(OptModuleParam.TOptScanGainVal, Double.class);
-			case FOPT -> getParam(OptModuleParam.FOptScanGainVal, Double.class);
-		};
-	}
-
-	public Integer getOptEmissionIntensity(A8kOptType type) {
-		return switch (type) {
-			case TOPT -> getParam(OptModuleParam.TOptEmissionIntensity, Integer.class);
-			case FOPT -> getParam(OptModuleParam.FOptEmissionIntensity, Integer.class);
-		};
-	}
-
-
 	public Integer getPullerTargetPos() {
 		return getParam(OptModuleParam.PullerTargetPos, Integer.class);
 	}

src/main/java/a8k/service/app/devicectrl/param/param_mgr/TemperatureCtrlParamMgr.java

@@ -26,7 +26,13 @@ public class TemperatureCtrlParamMgr extends ParamMgr {
 	}
 
 	public Double getParam(TemperatureCtrlParam pos) {
-		return super.getParam(pos, Double.class);
+		Double obj = super.getParam(pos, Double.class);
+		if (obj == null) {
+			return switch (pos) {
+				case IncubatorTCMTempOffset, PlatesBoxTCMTempOffset -> 0.0;
+			};
+		}
+		return obj;
 	}
 }
 

src/main/java/a8k/service/app/devicectrl/param/param_mgr/TubePreProcesPosParamMgr.java

@@ -4,7 +4,7 @@ import a8k.service.app.devicectrl.param.param_mgr.base.ParamMgr;
 import a8k.type.TubePreProcessGripperPos;
 import a8k.type.TubePreProcessTubeClamp;
 import a8k.type.TubePreProcessYPos;
-import a8k.type.TubePreProcessZAxisPos;
+import a8k.service.app.devicectrl.param.type.TubePreProcessZAxisPos;
 import jakarta.annotation.PostConstruct;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
@@ -13,6 +13,7 @@ import org.springframework.stereotype.Component;
 @Component
 public class TubePreProcesPosParamMgr extends ParamMgr {
 	static final Logger logger = LoggerFactory.getLogger(TubeFeedingModuleParamMgr.class);
+
 	@PostConstruct
 	void initialize() {
 		for (var pos : TubePreProcessGripperPos.values()) {
@@ -52,8 +53,6 @@ public class TubePreProcesPosParamMgr extends ParamMgr {
 
 	public Integer getGripperServoOpenPos()             {return getParam(TubePreProcessGripperPos.GripperServoOpenPos);}
 
-	public Integer getGripperServoClosePos()            {return getParam(TubePreProcessGripperPos.GripperServoClosePos);}
-
 	public Integer getGripperServoTakeCapPos()          {return getParam(TubePreProcessGripperPos.GripperServoTakeCapPos);}
 
 	public Integer getYServoTakeTubePos()               {return getParam(TubePreProcessYPos.YServoTakeTubePos);}
@@ -70,7 +69,7 @@ public class TubePreProcesPosParamMgr extends ParamMgr {
 
 	public Integer getZMotorShakeTubePos()        {return getParam(TubePreProcessZAxisPos.ZMotorShakeTubePos);}
 
-	public Integer getZMotorPutCapPos()           {return getParam(TubePreProcessZAxisPos.ZMotorPutTubeCapPos);}
+	public Integer getZMotorPutCapPos()           {return getParam(TubePreProcessZAxisPos.ZMotorShakeTubePos) + getParam(TubePreProcessGripperPos.GripperRedundancyHeight);}
 
 	public Integer getShakeClampMotorClampPos()   {return getParam(TubePreProcessTubeClamp.ShakeClampMotorClampPos);}
 

src/main/java/a8k/service/app/devicectrl/param/type/OptModuleExtParam.java

@@ -0,0 +1,20 @@
+package a8k.service.app.devicectrl.param.type;
+
+public enum OptModuleExtParam {
+	OptScanRefPos("光学扫描参考坐标"),
+
+	FOptScanShift("F光学扫描偏移"),
+	FOptEmissionIntensity("F发射强度"),//Int
+	FOptScanGainVal("F光学扫描放大倍数"),//Double
+
+	TOptScanShift("T光学扫描偏移"),
+	TOptEmissionIntensity("T发射强度"),
+	TOptScanGainVal("T光学扫描放大倍数"),
+	;
+
+	public final String chName;
+
+	OptModuleExtParam(String chName) {
+		this.chName = chName;
+	}
+}

src/main/java/a8k/service/app/devicectrl/param/type/OptModuleParam.java

@@ -4,17 +4,7 @@ public enum OptModuleParam {
 	PullerTargetPos("拉板目标位置"),
 	OptScanerDropPos("丢板坐标"),
 	OptScanerScandbyPos("扫描待机位"),
-	OptScanRefPos("光学扫描参考坐标"),
-
-	FOptScanShift("F光学扫描偏移"),
-	FOptEmissionIntensity("F发射强度"),//Int
-	FOptScanGainVal("F光学扫描放大倍数"),//Double
-
-	TOptScanShift("T光学扫描偏移"),
-	TOptEmissionIntensity("T发射强度"),
-	TOptScanGainVal("T光学扫描放大倍数"),
 	;
-
 	public final String chName;
 
 	OptModuleParam(String chName) {

src/main/java/a8k/service/app/devicectrl/param/type/TubePrePorcessStructConstant.java

@@ -0,0 +1 @@
+package a8k.service.app.devicectrl.param.type;

src/main/java/a8k/type/TubePreProcessZAxisPos.java → src/main/java/a8k/service/app/devicectrl/param/type/TubePreProcessZAxisPos.java

@@ -1,10 +1,9 @@
-package a8k.type;
+package a8k.service.app.devicectrl.param.type;
 
 public enum TubePreProcessZAxisPos {
 	ZMotorTakeHTubePos("<Z轴>取高试管位置"),//
 	ZMotorTakeSTubePos("<Z轴>取低试管位置"),//
 	ZMotorShakeTubePos("<Z轴>摇匀放置位置"),//
-	ZMotorPutTubeCapPos("<Z轴>盖帽位置"),//
 	;
 	public final String chName;
 	TubePreProcessZAxisPos(String chName) {

src/main/java/a8k/type/TipPosConfig.java

@@ -0,0 +1,11 @@
+package a8k.type;
+
+import a8k.type.cfg.Pos3d;
+import a8k.type.type.TipGroup;
+
+public class TipPosConfig {
+	public TipGroup tipGroup;
+	public Pos3d  tip000;
+	public Double spaceingX;
+	public Double spaceingY;
+}

src/main/java/a8k/type/TubePreProcessGripperPos.java

@@ -2,8 +2,8 @@ package a8k.type;
 
 public enum TubePreProcessGripperPos {
 	GripperServoOpenPos("<抓手>张开位置"),//
-	GripperServoClosePos("<抓手>闭合位置"),//
 	GripperServoTakeCapPos("<抓手>取试管位置"),//
+	GripperRedundancyHeight("<抓手>冗余高度"),//
 	;
 	public final String chName;
 

src/main/java/a8k/utils/ZJsonHelper.java

@@ -22,20 +22,34 @@ public class ZJsonHelper {
 
 	public static <T> T objectFromJson(ObjectNode node, Class<T> tClass) {
 		ObjectMapper mapper = new ObjectMapper();
+		if(node == null) {
+			return null;
+		}
+
 
 		if (tClass.getTypeName().equals(Integer.class.getTypeName())) {
+			if (node.get("value") == null)
+				return null;
 			return (T) Integer.valueOf(node.get("value").asInt());
 		}
 		if (tClass.getTypeName().equals(String.class.getTypeName())) {
+			if (node.get("value") == null)
+				return null;
 			return (T) node.get("value").asText();
 		}
 		if (tClass.getTypeName().equals(Boolean.class.getTypeName())) {
+			if (node.get("value") == null)
+				return null;
 			return (T) Boolean.valueOf(node.get("value").asBoolean());
 		}
 		if (tClass.getTypeName().equals(Double.class.getTypeName())) {
+			if (node.get("value") == null)
+				return null;
 			return (T) Double.valueOf(node.get("value").asDouble());
 		}
 		if (tClass.getTypeName().equals(Float.class.getTypeName())) {
+			if (node.get("value") == null)
+				return null;
 			return (T) Float.valueOf(node.get("value").floatValue());
 		}
 

src/main/resources/application-dev.yml

@@ -1,14 +1,2 @@
-server :
-  port : 80
-
-spring:
-  datasource:
-    url: jdbc:sqlite:D:/java_workspace/a8000/app.db
-    driver-class-name: org.sqlite.JDBC
-device:
-  connections:
-    - name : zcancmder
-      key : zcancmder
-      enable : true
-      type : ZcancmderWebsocket
-      uri: ws://192.168.8.10:19005
+A8kCanBusService:
+  url: ws://127.0.0.1:19005

src/main/resources/application-test.yml

@@ -1,15 +1,2 @@
-server :
-  port : 80
-
-spring:
-  datasource:
-    url: jdbc:sqlite:/app/device.db
-    driver-class-name: org.sqlite.JDBC
-
-device:
-  connections:
-    - name : zcancmder
-      key : zcancmder
-      enable : true
-      type : ZcancmderWebsocket
-      uri: ws://192.168.8.10:19005
+A8kCanBusService:
+  url: ws://192.168.8.10:19005

src/main/resources/application-zhaohe_pc.yml

@@ -1,19 +0,0 @@
-server :
-  port : 80
-
-spring:
-  datasource:
-    url: jdbc:sqlite:D:/java_workspace/a8000/app.db
-    driver-class-name: org.sqlite.JDBC
-
-device:
-  connections:
-    - name : zcancmder
-      key : zcancmder
-      enable : true
-      type : ZcancmderWebsocket
-      uri: ws://192.168.8.10:19005
-
-VirtualDevice:
-  enableVirtualDevice: true
-