update

src/main/java/a8k/service/app/appctrl/DeviceInitCtrlService.java

@@ -9,7 +9,7 @@ import a8k.service.debug.AppDebugHelperService;
 import a8k.type.checkpoint.CheckResult;
 import a8k.type.checkpoint.Checkpoint;
 import a8k.service.app.appstate.GStateService;
-import a8k.service.app.devicedriver.ctrl.basic.HbotModule;
+import a8k.service.app.devicedriver.basectrl.HbotModule;
 import a8k.type.exception.AppException;
 import jakarta.annotation.PostConstruct;
 import jakarta.annotation.Resource;

src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ4_PRE_PROCESS.java

@@ -3,8 +3,6 @@ package a8k.service.app.appctrl.mainflowctrl.action;
 import a8k.OS;
 import a8k.service.app.appctrl.mainflowctrl.CondtionMgrService;
 import a8k.service.app.appdata.AppProjInfoMgrService;
-import a8k.service.app.appstate.type.state.IncubationSubTankState;
-import a8k.service.app.appstate.type.state.ProjProcessState;
 import a8k.service.debug.AppDebugHelperService;
 import a8k.utils.AppExceptionBuilder;
 import a8k.service.bases.AppEventBusService;
@@ -13,8 +11,7 @@ import a8k.service.app.appctrl.mainflowctrl.base.A8kStepAction;
 import a8k.service.app.appstate.*;
 import a8k.service.app.appstate.resource.A8kPublicResourceType;
 import a8k.service.app.appstate.type.Tube;
-import a8k.service.app.appstate.type.state.TubeState;
-import a8k.service.app.devicedriver.ctrl.HbotControlService;
+import a8k.service.app.devicedriver.basectrl.HbotBaseMoveControlService;
 import a8k.service.app.devicedriver.ctrl.ReactionPlatesTransmitCtrl;
 import a8k.service.app.devicedriver.ctrl.SampleScanTransportHardwareControler;
 import a8k.service.app.devicedriver.ctrl.SamplesPreProcesCtrl;
@@ -61,11 +58,11 @@ public class SEQ4_PRE_PROCESS extends A8kStepAction {
 	@Resource
 	ReactionPlatesTransmitCtrl           reactionPlatesTransmitCtrl;
 	@Resource
-	SamplesPreProcesCtrl                 samplesPreProcesCtrl;
+	SamplesPreProcesCtrl           samplesPreProcesCtrl;
 	@Resource
-	HbotControlService                   hbotControlService;
+	HbotBaseMoveControlService     hbotBaseMoveControlService;
 	@Resource
-	IncubationPlateStateMgrService       incubationPlateStateMgrService;
+	IncubationPlateStateMgrService incubationPlateStateMgrService;
 	@Resource
 	ProjectProcessContextMgrService      projectProcessContextMgrService;
 	@Resource

src/main/java/a8k/service/app/devicedriver/ctrl/CodeScaner.java → src/main/java/a8k/service/app/devicedriver/basectrl/CodeScaner.java

@@ -1,4 +1,4 @@
-package a8k.service.app.devicedriver.ctrl;
+package a8k.service.app.devicedriver.basectrl;
 
 import a8k.hardware.A8kCanBusService;
 import a8k.hardware.type.a8kcanprotocol.MId;

src/main/java/a8k/service/app/devicedriver/basectrl/HbotBaseMoveControlService.java

@@ -0,0 +1,208 @@
+package a8k.service.app.devicedriver.basectrl;
+
+import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
+import a8k.extapi_controler.utils.ExtApiTab;
+import a8k.service.app.devicedriver.basectrl.type.PipetteRegIndex;
+import a8k.type.exception.AppException;
+import a8k.type.cfg.*;
+import a8k.hardware.A8kCanBusService;
+import a8k.hardware.type.a8kcanprotocol.A8kEcode;
+import a8k.hardware.type.a8kcanprotocol.IOId;
+import a8k.hardware.type.a8kcanprotocol.MId;
+import a8k.hardware.type.regindex.RegIndex;
+import jakarta.annotation.Resource;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.stereotype.Component;
+
+/**
+ * Hbot控制服务
+ */
+@Component
+@ExtApiTab(cfg = ExtApiTabConfig.HbotControlService)
+public class HbotBaseMoveControlService {
+	static Logger logger = LoggerFactory.getLogger(HbotBaseMoveControlService.class);
+
+	@Resource
+	A8kCanBusService canBus;
+	@Resource
+	PipetteCtrlModule pipetteCtrlModule;
+	@Resource
+	HbotModule hbotModule;
+	Integer ao = 20000;
+
+	public void hbotMoveTo(Pos3d targetPos) throws AppException {
+		logger.info("hbotCheckAndMoveTo:{}", targetPos);
+
+		// 检查盖板是否关闭
+		if (!canBus.getIOState(IOId.PlateBoxCoverClosurePPS)) {
+			throw new AppException(A8kEcode.APPE_PLATE_BOX_NOT_COVER);
+		}
+
+		boolean zEnable    = true;
+		boolean hbotEnable = canBus.moduleGetReg(MId.HbotM, RegIndex.kreg_xyrobot_is_enable) == 1;
+
+		//检查Z轴是否使能，如果没有使能，使能并移动到零点
+		if (pipetteCtrlModule.getReg(PipetteRegIndex.kreg_pipette_zm_is_enable) == 0) {
+			pipetteCtrlModule.zMotorEnable(1);
+			pipetteCtrlModule.zMotorMoveZeroBlock();
+			zEnable = false;
+		}
+
+		//检查Z轴是否在零点
+		if (!pipetteCtrlModule.zAixsZeroPointIsTrigger()) {
+			pipetteCtrlModule.zMotorMoveToZeroPointQuickBlock();
+		}
+		if (!pipetteCtrlModule.zAixsZeroPointIsTrigger()) {
+			throw new AppException(A8kEcode.CODEERROR_ZM_NOT_AT_ZERO_POS_WHEN_HBOT_TRY_MOVE);
+		}
+
+		// HBot移动
+		hbotModule.enable(1);
+		hbotModule.moveToBlock(targetPos.x - 20, targetPos.y - 20, ao);
+		hbotModule.moveToBlock(targetPos.x, targetPos.y, ao);
+		hbotModule.moveToBlock(targetPos.x, targetPos.y, ao);
+
+		// Z轴移动
+		if (targetPos.z != 0) {
+			pipetteCtrlModule.zMotorEnable(1);
+			pipetteCtrlModule.zMotorMoveToZeroPointQuickBlock();
+			pipetteCtrlModule.zMotorMoveToBlock(targetPos.z);
+		}
+		pipetteCtrlModule.zMotorEnable(zEnable ? 1 : 0);
+		hbotModule.enable(hbotEnable ? 1 : 0);
+	}
+
+	public void hbotMoveTo(Pos2d tpos) throws AppException {
+		hbotMoveTo(new Pos3d(tpos.x, tpos.y, 0));
+	}
+
+//	public String scan2dCode(Integer waittime) throws AppException {
+//		try {
+//			canBus.codeScanerStartScan(MId.PipetteModCodeScanner);
+//			String result = canBus.codeScanerWaittingForResult(MId.PipetteModCodeScanner, waittime);
+//			canBus.codeScanerStopScan(MId.PipetteModCodeScanner);
+//			return result;
+//		} catch (AppException e) {
+//			return "";
+//		}
+//	}
+//
+//
+//	public void zMoveTo(Integer z) throws AppException {
+//		if (z == 0) {
+//			pipetteCtrlModule.zMotorMoveToZeroPointQuickBlock();
+//		} else {
+//			pipetteCtrlModule.zMotorMoveToBlock(z);
+//		}
+//	}
+//
+//	private void hbotCheckAndMoveTo(Pos2d targetPos) throws AppException {
+//		hbotMoveTo(new Pos3d(targetPos.x, targetPos.y, 0));
+//	}
+
+//	private void modGroupMoveToZero() throws AppException {
+//		if (!canBus.getIOState(IOId.PlateBoxCoverClosurePPS)) {
+//			throw new AppException(A8kEcode.APPE_PLATE_BOX_NOT_COVER);
+//		}
+//
+//		pipetteCtrlModule.zMotorEnable(1);
+//		hbotModule.enable(1);
+//
+//		hbotModule.moveToZeroBlock(timep.getHbotRuntoZeroActionOvertime());
+//
+//		// 丢弃tip
+//		Pos3d dropPos = pp.getTipDropPos();
+//		hbotMoveTo(dropPos);
+//		// TODO: canBus.pipetteCtrlInitDeviceBlock(MId.PipetteMod, timep.getActionOvertime());
+//
+//		// 快速归零
+//		modGroupMoveToZeroQuick();
+//	}
+
+//	private void modGroupMoveToZeroQuick() throws AppException {
+	//		hbotCheckAndMoveTo(new Pos2d(0, 0));
+	//	}
+
+
+	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+	// 单步测试
+	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+
+	//	@ExtApiFn(name = "丢Tip", group = "单步测试")
+	//	public void dropTip() throws AppException {
+	//		Pos3d pos = pp.getTipDropPos();
+	//		hbotMoveTo(pos.x, pos.y);
+	//		zMoveTo(pos.z);
+	//		pipetteCtrlModule.putTipBlock();
+	//		zMoveTo(0);
+	//	}
+	//
+	//	@ExtApiFn(name = "取Tip", group = "单步测试")
+	//	public Boolean takeTip(TipGroup tipGroup, Integer index) throws AppException {
+	//		logger.info("takeTip groupId:{} index:{}", tipGroup.ordinal(), index);
+	//
+	//		if (index > TipPickUpPosInfo.cgetTipNum() || index < 0) {
+	//			throw new AppException(A8kEcode.CODEERROR_PARAM_OUT_OF_RANGE);
+	//		}
+	//
+	//		TipPickUpPosInfo tipPos = pp.getTipPickUpPosInfo();
+	//		Pos2d            pos    = tipPos.getTipPos(tipGroup.ordinal(), index);
+	//		hbotMoveTo(pos.x, pos.y);
+	//
+	//		//TODO: 补偿，group大于1时，z轴需要补偿0.2mm
+	//		Integer zCompensate = 0;
+	//		if (tipGroup.ordinal() > 1) {
+	//			zCompensate = 2;
+	//		}
+	//
+	//		pipetteCtrlModule.zMotorMoveToBlock(tipPos.getPickUpZPos(tipGroup.ordinal()) + zCompensate);
+	//		pipetteCtrlModule.zMotorMoveToZeroPointQuickBlock();
+	//
+	//		Boolean isGetTip = canBus.moduleGetReg(MId.PipetteMod, RegIndex.kreg_pipette_tip_state) == 1;
+	//		if (!isGetTip) {
+	//			logger.error("takeTip fail");
+	//		}
+	//		return isGetTip;
+	//	}
+
+	//	@ExtApiFn(name = "HBot移动到", group = "单步测试")
+	//	public void hbotMoveTo(Integer x, Integer y) throws AppException {
+	//		hbotCheckAndMoveTo(new Pos2d(x, y));
+	//	}
+
+	//	@ExtApiFn(name = "HBot移动到小瓶缓冲液X孔", group = "单步测试")
+	//	public void hbotMoveToSmallBottleGroup(ConsumableGroup group, Integer Xhole)
+	//			throws AppException {
+	//		BottleGroupsPosInfo posInfo = pp.getBottleBufferPosInfo();
+	//		if (Xhole < 0 || Xhole > BottlesPosInfo.cgetMAX()) {
+	//			throw new AppException(A8kEcode.CODEERROR_PARAM_OUT_OF_RANGE);
+	//		}
+	//		Pos2d pos = posInfo.cgetSmallBottleBufferPos(group.off, Xhole);
+	//		hbotCheckAndMoveTo(pos);
+	//	}
+	//
+	//	@ExtApiFn(name = "HBot移动到探测物质X孔", group = "单步测试")
+	//	public void hbotMoveToDetectMaterialPos(ConsumableGroup group, Integer Xhole)
+	//			throws AppException {
+	//		BottleGroupsPosInfo posInfo = pp.getBottleBufferPosInfo();
+	//		if (Xhole < 0 || Xhole > BottlesPosInfo.cgetMAX()) {
+	//			throw new AppException(A8kEcode.CODEERROR_PARAM_OUT_OF_RANGE);
+	//		}
+	//		Pos2d pos = posInfo.cgetDetectMaterialPos(group.off, Xhole);
+	//		hbotCheckAndMoveTo(pos);
+	//	}
+	//
+	//	@ExtApiFn(name = "HBot移动到大瓶缓冲液X孔", group = "单步测试")
+	//	public void hbotMoveToLargeBottleGroup(ConsumableGroup ch) throws AppException {
+	//		LargeBottleBufferPos posInfo = pp.getLargeBottleBufferPosInfo();
+	//		Pos2d                pos     = posInfo.cgetBottlePos(ch.off);
+	//		hbotCheckAndMoveTo(pos);
+	//	}
+	//
+	//	@ExtApiFn(name = "HBot移动到急诊位", group = "单步测试")
+	//	public void hbotMoveToEmergencyPos() throws AppException {
+	//		hbotMoveTo(pp.getEmergencyPos());
+	//	}
+
+}

src/main/java/a8k/service/app/devicedriver/ctrl/basic/HbotModule.java → src/main/java/a8k/service/app/devicedriver/basectrl/HbotModule.java

@@ -1,9 +1,9 @@
-package a8k.service.app.devicedriver.ctrl.basic;
+package a8k.service.app.devicedriver.basectrl;
 
 import a8k.hardware.A8kCanBusService;
 import a8k.hardware.type.a8kcanprotocol.CmdId;
 import a8k.hardware.type.a8kcanprotocol.MId;
-import a8k.service.app.devicedriver.ctrl.type.HbotRegIndex;
+import a8k.service.app.devicedriver.basectrl.type.HbotRegIndex;
 import a8k.type.cfg.Pos2d;
 import a8k.type.exception.AppException;
 import jakarta.annotation.Resource;

src/main/java/a8k/service/app/devicedriver/ctrl/basic/PipetteCtrlModule.java → src/main/java/a8k/service/app/devicedriver/basectrl/PipetteCtrlModule.java

@@ -1,4 +1,4 @@
-package a8k.service.app.devicedriver.ctrl.basic;
+package a8k.service.app.devicedriver.basectrl;
 
 import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
 import a8k.extapi_controler.utils.ExtApiTab;
@@ -7,7 +7,7 @@ import a8k.hardware.A8kCanBusService;
 import a8k.hardware.type.LldType;
 import a8k.hardware.type.a8kcanprotocol.CmdId;
 import a8k.hardware.type.a8kcanprotocol.MId;
-import a8k.service.app.devicedriver.ctrl.type.PipetteRegIndex;
+import a8k.service.app.devicedriver.basectrl.type.PipetteRegIndex;
 import a8k.hardware.type.regindex.RegIndex;
 import a8k.type.exception.AppException;
 import com.fasterxml.jackson.databind.ObjectMapper;

src/main/java/a8k/service/app/devicedriver/ctrl/type/HbotRegIndex.java → src/main/java/a8k/service/app/devicedriver/basectrl/type/HbotRegIndex.java

@@ -1,4 +1,4 @@
-package a8k.service.app.devicedriver.ctrl.type;
+package a8k.service.app.devicedriver.basectrl.type;
 
 import a8k.hardware.type.regindex.RegIndex;
 

src/main/java/a8k/service/app/devicedriver/ctrl/type/PipetteRegIndex.java → src/main/java/a8k/service/app/devicedriver/basectrl/type/PipetteRegIndex.java

@@ -1,4 +1,4 @@
-package a8k.service.app.devicedriver.ctrl.type;
+package a8k.service.app.devicedriver.basectrl.type;
 
 public enum PipetteRegIndex {
 	kreg_module_version(0), // 模块版本

src/main/java/a8k/service/app/devicedriver/calibration/Hbot2DCodeScanPosCalibration.java

@@ -5,8 +5,8 @@ import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
 import a8k.extapi_controler.utils.ExtApiFn;
 import a8k.extapi_controler.utils.ExtApiTab;
 import a8k.hardware.A8kCanBusService;
-import a8k.service.app.devicedriver.ctrl.basic.PipetteCtrlModule;
-import a8k.service.app.devicedriver.ctrl.CodeScaner;
+import a8k.service.app.devicedriver.basectrl.PipetteCtrlModule;
+import a8k.service.app.devicedriver.basectrl.CodeScaner;
 import a8k.service.app.devicedriver.param.Hbot2DCodeScanPos;
 import a8k.type.exception.AppException;
 import com.fasterxml.jackson.databind.ObjectMapper;

src/main/java/a8k/service/app/devicedriver/commonctrl/HardwareCommonCtrl.java

@@ -1,7 +1,7 @@
 package a8k.service.app.devicedriver.commonctrl;
 
 
-import a8k.service.app.devicedriver.ctrl.basic.HbotModule;
+import a8k.service.app.devicedriver.basectrl.HbotModule;
 import a8k.type.exception.AppException;
 import a8k.type.appret.AppRet;
 import a8k.extapi_controler.utils.ExtApiTab;

src/main/java/a8k/service/app/devicedriver/ctrl/ConsumablesScanCtrl.java

@@ -1,5 +1,7 @@
 package a8k.service.app.devicedriver.ctrl;
 
+import a8k.service.app.devicedriver.basectrl.CodeScaner;
+import a8k.service.app.devicedriver.basectrl.HbotBaseMoveControlService;
 import a8k.service.bases.ActionReactorService;
 import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
 import a8k.extapi_controler.utils.ExtApiFn;
@@ -21,43 +23,42 @@ public class ConsumablesScanCtrl {
 
 	@Resource
 	ActionReactorService ar;
-
 	@Resource
 	GStateService stateMgrService;
-
 	@Resource
 	Hbot2DCodeScanPos hbotScanPos;
-
 	@Resource
-	HbotControlService hbot;
+	CodeScaner codeScaner;
+	@Resource
+	HbotBaseMoveControlService hbot;
 
 
 	private void hbotMoveTo(Pos2d tpos) throws AppException {
 		hbot.hbotMoveTo(tpos);
 	}
 
-	private String scan2dCode(Integer waittime) throws AppException {
-		return hbot.scan2dCode(waittime);
+	private String scan2dCode() throws AppException {
+		return codeScaner.pipetteModCodeScannerScanCode();
 	}
 
 
 	private String scanPB(int ch) throws AppException {
 		Pos2d pos = hbotScanPos.getPBScanPosX(ch);
 		hbotMoveTo(pos);
-		return scan2dCode(100);
+		return scan2dCode();
 
 	}
 
 	private String scanLittBS(int ch) throws AppException {
 		Pos2d pos = hbotScanPos.getLittBSX(ch);
 		hbotMoveTo(pos);
-		return scan2dCode(100);
+		return scan2dCode();
 	}
 
 	private String scanLarBS(int ch) throws AppException {
 		Pos2d pos = hbotScanPos.getLarBSX(ch);
 		hbotMoveTo(pos);
-		return scan2dCode(100);
+		return scan2dCode();
 	}
 
 

src/main/java/a8k/service/app/devicedriver/ctrl/HbotControlService.java

@@ -1,314 +0,0 @@
-package a8k.service.app.devicedriver.ctrl;
-
-import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
-import a8k.extapi_controler.utils.ExtApiFn;
-import a8k.extapi_controler.utils.ExtApiTab;
-import a8k.service.app.devicedriver.ctrl.basic.PipetteCtrlModule;
-import a8k.service.app.devicedriver.ctrl.basic.HbotModule;
-import a8k.service.app.devicedriver.ctrl.type.PipetteRegIndex;
-import a8k.service.app.devicedriver.param.PosParam;
-import a8k.service.app.devicedriver.param.TimeParam;
-import a8k.type.ConsumableGroup;
-import a8k.type.exception.AppException;
-import a8k.type.cfg.*;
-import a8k.hardware.A8kCanBusService;
-import a8k.hardware.type.a8kcanprotocol.A8kEcode;
-import a8k.hardware.type.a8kcanprotocol.IOId;
-import a8k.hardware.type.a8kcanprotocol.MId;
-import a8k.hardware.type.regindex.RegIndex;
-import a8k.type.type.TipGroup;
-import jakarta.annotation.Resource;
-import org.slf4j.Logger;
-import org.slf4j.LoggerFactory;
-import org.springframework.stereotype.Component;
-
-/**
- * Hbot控制服务
- */
-@Component
-@ExtApiTab(cfg = ExtApiTabConfig.HbotControlService)
-public class HbotControlService {
-	static Logger logger = LoggerFactory.getLogger(HbotControlService.class);
-
-	@Resource
-	A8kCanBusService canBus;
-
-	@Resource
-	PipetteCtrlModule pipetteCtrlModule;
-
-	@Resource
-	HbotModule hbotModule;
-
-	@Resource
-	PosParam pp;
-
-	@Resource
-	TimeParam timep;
-
-	Integer ao = 20000;
-
-
-	public void hbotMoveTo(Pos3d targetPos) throws AppException {
-		logger.info("hbotCheckAndMoveTo:{}", targetPos);
-
-		// 检查盖板是否关闭
-		if (!canBus.getIOState(IOId.PlateBoxCoverClosurePPS)) {
-			throw new AppException(A8kEcode.APPE_PLATE_BOX_NOT_COVER);
-		}
-
-		boolean zEnable    = true;
-		boolean hbotEnable = canBus.moduleGetReg(MId.HbotM, RegIndex.kreg_xyrobot_is_enable) == 1;
-
-		//检查Z轴是否使能，如果没有使能，使能并移动到零点
-		if (pipetteCtrlModule.getReg(PipetteRegIndex.kreg_pipette_zm_is_enable) == 0) {
-			pipetteCtrlModule.zMotorEnable(1);
-			pipetteCtrlModule.zMotorMoveZeroBlock();
-			zEnable = false;
-		}
-
-		//检查Z轴是否在零点
-		if (!pipetteCtrlModule.zAixsZeroPointIsTrigger()) {
-			pipetteCtrlModule.zMotorMoveToZeroPointQuickBlock();
-		}
-		if (!pipetteCtrlModule.zAixsZeroPointIsTrigger()) {
-			throw new AppException(A8kEcode.CODEERROR_ZM_NOT_AT_ZERO_POS_WHEN_HBOT_TRY_MOVE);
-		}
-
-		// HBot移动
-		hbotModule.enable( 1);
-		hbotModule.moveToBlock( targetPos.x - 20, targetPos.y - 20, ao);
-		hbotModule.moveToBlock( targetPos.x, targetPos.y, ao);
-		hbotModule.moveToBlock( targetPos.x, targetPos.y, ao);
-
-		// Z轴移动
-		if (targetPos.z != 0) {
-			pipetteCtrlModule.zMotorEnable(1);
-			pipetteCtrlModule.zMotorMoveToZeroPointQuickBlock();
-			pipetteCtrlModule.zMotorMoveToBlock(targetPos.z);
-		}
-		pipetteCtrlModule.zMotorEnable(zEnable ? 1 : 0);
-		hbotModule.enable( hbotEnable ? 1 : 0);
-	}
-
-	public void hbotMoveTo(Pos2d tpos) throws AppException {
-		hbotMoveTo(new Pos3d(tpos.x, tpos.y, 0));
-	}
-
-	public String scan2dCode(Integer waittime) throws AppException {
-		try {
-			canBus.codeScanerStartScan(MId.PipetteModCodeScanner);
-			String result = canBus.codeScanerWaittingForResult(MId.PipetteModCodeScanner, waittime);
-			canBus.codeScanerStopScan(MId.PipetteModCodeScanner);
-			return result;
-		} catch (AppException e) {
-			return "";
-		}
-	}
-
-	//
-	//	public Integer getGripperZeroYPos() {
-	// 之所以这样写，是因为是为了放置两个类之间的循环依赖
-	// assert appCxt != null;
-	// TODO
-	// return
-	// appCxt.getBean(SamplesPreProcessModuleCtrlService.class).getGripperZeroYPos();
-	//		return 0;
-	//	}
-
-	//	 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-	//	基础控制
-	//	 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-
-
-	public void zMoveTo(Integer z) throws AppException {
-		if (z == 0) {
-			pipetteCtrlModule.zMotorMoveToZeroPointQuickBlock();
-		} else {
-			pipetteCtrlModule.zMotorMoveToBlock(z);
-		}
-	}
-
-	private void hbotCheckAndMoveTo(Pos2d targetPos) throws AppException {
-		hbotMoveTo(new Pos3d(targetPos.x, targetPos.y, 0));
-	}
-
-	private void modGroupMoveToZero() throws AppException {
-		if (!canBus.getIOState(IOId.PlateBoxCoverClosurePPS)) {
-			throw new AppException(A8kEcode.APPE_PLATE_BOX_NOT_COVER);
-		}
-
-		pipetteCtrlModule.zMotorEnable(1);
-		hbotModule.enable( 1);
-
-		hbotModule.moveToZeroBlock( timep.getHbotRuntoZeroActionOvertime());
-
-		// 丢弃tip
-		Pos3d dropPos = pp.getTipDropPos();
-		hbotMoveTo(dropPos);
-		// TODO: canBus.pipetteCtrlInitDeviceBlock(MId.PipetteMod, timep.getActionOvertime());
-
-		// 快速归零
-		modGroupMoveToZeroQuick();
-	}
-
-	private void modGroupMoveToZeroQuick() throws AppException {
-		hbotCheckAndMoveTo(new Pos2d(0, 0));
-	}
-
-
-	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-	// 单步测试
-	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-
-	@ExtApiFn(name = "丢Tip", group = "单步测试")
-	public void dropTip() throws AppException {
-		Pos3d pos = pp.getTipDropPos();
-		hbotMoveTo(pos.x, pos.y);
-		zMoveTo(pos.z);
-		pipetteCtrlModule.putTipBlock();
-		zMoveTo(0);
-	}
-
-	@ExtApiFn(name = "取Tip", group = "单步测试")
-	public Boolean takeTip(TipGroup tipGroup, Integer index) throws AppException {
-		logger.info("takeTip groupId:{} index:{}", tipGroup.ordinal(), index);
-
-		if (index > TipPickUpPosInfo.cgetTipNum() || index < 0) {
-			throw new AppException(A8kEcode.CODEERROR_PARAM_OUT_OF_RANGE);
-		}
-
-		TipPickUpPosInfo tipPos = pp.getTipPickUpPosInfo();
-		Pos2d            pos    = tipPos.getTipPos(tipGroup.ordinal(), index);
-		hbotMoveTo(pos.x, pos.y);
-
-		//TODO: 补偿，group大于1时，z轴需要补偿0.2mm
-		Integer zCompensate = 0;
-		if (tipGroup.ordinal() > 1) {
-			zCompensate = 2;
-		}
-
-		pipetteCtrlModule.zMotorMoveToBlock(tipPos.getPickUpZPos(tipGroup.ordinal()) + zCompensate);
-		pipetteCtrlModule.zMotorMoveToZeroPointQuickBlock();
-
-		Boolean isGetTip = canBus.moduleGetReg(MId.PipetteMod, RegIndex.kreg_pipette_tip_state) == 1;
-		if (!isGetTip) {
-			logger.error("takeTip fail");
-		}
-		return isGetTip;
-	}
-
-	@ExtApiFn(name = "HBot移动到", group = "单步测试")
-	public void hbotMoveTo(Integer x, Integer y) throws AppException {
-		hbotCheckAndMoveTo(new Pos2d(x, y));
-	}
-
-	@ExtApiFn(name = "HBot移动到小瓶缓冲液X孔", group = "单步测试")
-	public void hbotMoveToSmallBottleGroup(ConsumableGroup group, Integer Xhole)
-			throws AppException {
-		BottleGroupsPosInfo posInfo = pp.getBottleBufferPosInfo();
-		if (Xhole < 0 || Xhole > BottlesPosInfo.cgetMAX()) {
-			throw new AppException(A8kEcode.CODEERROR_PARAM_OUT_OF_RANGE);
-		}
-		Pos2d pos = posInfo.cgetSmallBottleBufferPos(group.off, Xhole);
-		hbotCheckAndMoveTo(pos);
-	}
-
-	@ExtApiFn(name = "HBot移动到探测物质X孔", group = "单步测试")
-	public void hbotMoveToDetectMaterialPos(ConsumableGroup group, Integer Xhole)
-			throws AppException {
-		BottleGroupsPosInfo posInfo = pp.getBottleBufferPosInfo();
-		if (Xhole < 0 || Xhole > BottlesPosInfo.cgetMAX()) {
-			throw new AppException(A8kEcode.CODEERROR_PARAM_OUT_OF_RANGE);
-		}
-		Pos2d pos = posInfo.cgetDetectMaterialPos(group.off, Xhole);
-		hbotCheckAndMoveTo(pos);
-	}
-
-	@ExtApiFn(name = "HBot移动到大瓶缓冲液X孔", group = "单步测试")
-	public void hbotMoveToLargeBottleGroup(ConsumableGroup ch) throws AppException {
-		LargeBottleBufferPos posInfo = pp.getLargeBottleBufferPosInfo();
-		Pos2d                pos     = posInfo.cgetBottlePos(ch.off);
-		hbotCheckAndMoveTo(pos);
-	}
-
-	@ExtApiFn(name = "HBot移动到急诊位", group = "单步测试")
-	public void hbotMoveToEmergencyPos() throws AppException {
-		hbotMoveTo(pp.getEmergencyPos());
-	}
-
-	//	 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-	//	坐标获取工具
-	//	 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-
-	@ExtApiFn(name = "Hbot使能", group = "坐标获取工具")
-	public void hBotEnable() throws AppException {
-		hbotModule.enable( 1);
-	}
-
-	@ExtApiFn(name = "Hbot失能", group = "坐标获取工具")
-	public void hBotDisable() throws AppException {
-		hbotModule.enable(0);
-	}
-
-	@ExtApiFn(name = "Z轴使能", group = "坐标获取工具")
-	public void zAxisEnable() throws AppException {
-		pipetteCtrlModule.zMotorEnable(1);
-	}
-
-	@ExtApiFn(name = "Z轴失能", group = "坐标获取工具")
-	public void zAxisDisable() throws AppException {
-		pipetteCtrlModule.zMotorEnable(0);
-	}
-
-	@ExtApiFn(name = "归零读取Z轴坐标", group = "坐标获取工具")
-	public Integer readZAxisPosByMoveToZero() throws AppException {
-		pipetteCtrlModule.zMotorMeasureDistance();
-		return pipetteCtrlModule.zMotorReadMeasureDistanceResult();
-	}
-
-	@ExtApiFn(name = "打开扫码器", group = "坐标获取工具")
-	public void openCodeScaner(Boolean power) throws AppException {
-		if (power) {
-			canBus.codeScanerStartScan(MId.PipetteModCodeScanner);
-		} else {
-			canBus.codeScanerStopScan(MId.PipetteModCodeScanner);
-		}
-	}
-
-	Pos2d hbotRefPos = new Pos2d(0, 0);
-
-	@ExtApiFn(name = "设置HBOT参考坐标", group = "坐标获取工具")
-	public void setHbotRefPos(Integer x, Integer y) throws AppException {
-		hbotRefPos.x = x;
-		hbotRefPos.y = y;
-	}
-
-
-	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-	// hbot取样品
-	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-
-	public Boolean getXPPS() throws AppException {
-		return hbotModule.readInIO(0);
-	}
-
-	public Boolean getYPPS() throws AppException {
-		return hbotModule.readInIO(1);
-	}
-
-	public Boolean getTipPPS() throws AppException {
-		return canBus.moduleGetReg(MId.PipetteMod, RegIndex.kreg_pipette_tip_state) == 1;
-	}
-
-	public String getPos() throws AppException {
-		Pos2d pos = hbotModule.readPos();
-		return pos.toString();
-	}
-
-	//	public String getHbotRelaPos() throws AppException {
-	//		Pos2d pos = hbotModule.hbotReadPos(MId.HbotM);
-	//		pos.x -= hbotRefPos.x;
-	//		pos.y -= hbotRefPos.y;
-	//		return pos.toString();
-	//	}
-}

src/main/java/a8k/service/app/devicedriver/ctrl/PipetteGunCtrlService.java

@@ -10,8 +10,6 @@ import org.springframework.stereotype.Component;
  * 移液枪功能
  *		1.
  *
- *
- *
  */
 
 @Component

src/main/java/a8k/service/app/devicedriver/testscript/TestScript.java

@@ -11,7 +11,7 @@ import a8k.service.app.devicedriver.ctrl.SamplesPreProcesCtrl;
 import a8k.service.app.devicedriver.ctrl.SampleScanTransportHardwareControler;
 import a8k.hardware.A8kCanBusService;
 import a8k.hardware.type.a8kcanprotocol.A8kEcode;
-import a8k.service.app.devicedriver.ctrl.HbotControlService;
+import a8k.service.app.devicedriver.basectrl.HbotBaseMoveControlService;
 import a8k.service.app.devicedriver.ctrl.ReactionPlatesTransmitCtrl;
 import a8k.service.app.devicedriver.param.DebugParam;
 import a8k.service.app.devicedriver.param.PosParam;
@@ -45,7 +45,7 @@ public class TestScript {
 	ApplicationContext appCxt;
 
 	@Resource
-	HbotControlService hbotcs;
+	HbotBaseMoveControlService hbotcs;
 
 	@Resource
 	TimeParam  timep;
@@ -63,7 +63,7 @@ public class TestScript {
 	@Resource
 	SampleScanTransportHardwareControler sampleScanTransportHardwareControler;
 
-	EnginnerParamReader settingReader = new EnginnerParamReader(HbotControlService.class);
+	EnginnerParamReader settingReader = new EnginnerParamReader(HbotBaseMoveControlService.class);
 
 	//	+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 	//	测试