fix some bug

src/main/java/a8k/app/hardware/type/A8kEcode.java

@@ -109,6 +109,8 @@ public enum A8kEcode {
 	APPE_PLATE_BOX_NOT_COVER(309),                 //板夹仓未盖
 	APPE_DEVICE_NOT_INITED(310),                   //设备未初始化
 	APPE_SHAKE_MODULE_CLAMPM_NOT_IN_ZERO_POS(311), //摇匀模组夹紧模块没有在零点位置
+	APPE_INCUBATION_PLATE_OUTLET_STUCK_DETECTOR_SENSOR_IS_TRIGGER(312), //孵育板出料口卡板检测传感器触发
+	APPE_INCUBATION_PLATE_INLET_STUCK_DETECTOR_SENSOR_IS_TRIGGER(313), //孵育板入料口卡板检测传感器触发
 
 
 	//

src/main/java/a8k/app/hardware/type/InputIOId.java

@@ -10,10 +10,10 @@ public enum InputIOId {
 
 	RecycleBinOverflowPPS("废料仓满溢检测", ModuleType.Board, MId.PlatesBoxTCMBoard, 2, false),//废料桶满溢检测
 	RecycleBinInPlacePPS("废料仓到位检测", ModuleType.Board, MId.OptModBoard, 1, false),//废料桶到位检测
-	OptModulePlateStuckPPS("光学模组-入口-卡板-检测", ModuleType.Board, MId.OptModBoard, 4, false),//废料桶到位检测
+	IncubationPlateOutletStuckPPS("光学模组-入口-卡板-检测", ModuleType.Board, MId.OptModBoard, 4, false),//废料桶到位检测
 
 	PlateBoxCoverClosurePPS("板夹仓-仓门光电", ModuleType.Board, MId.PlatesBoxBoard, 0, true),//板夹仓舱盖闭合检测
-	PlateBoxPlateStuckPPS("板夹仓-卡板光电", ModuleType.Board, MId.PlatesBoxBoard, 1, false),//板夹仓卡板检测
+	IncubationPlateInletStuckPPS("板夹仓-卡板光电", ModuleType.Board, MId.PlatesBoxBoard, 1, false),//板夹仓卡板检测
 
 
 

src/main/java/a8k/app/i18n/Internationalization.java

@@ -40,6 +40,8 @@ public class Internationalization {
 			case APPE_DEVICE_NOT_INITED -> "设备未初始化";
 			case APPE_DEVICE_INIT_CHECK_FAIL -> "设备初始化检查失败";
 			case APPE_SHAKE_MODULE_CLAMPM_NOT_IN_ZERO_POS -> "摇匀模组夹紧电机初始化时没有在零点位置";
+			case APPE_INCUBATION_PLATE_OUTLET_STUCK_DETECTOR_SENSOR_IS_TRIGGER -> "孵育板出料口卡板检测传感器触发";
+			case APPE_INCUBATION_PLATE_INLET_STUCK_DETECTOR_SENSOR_IS_TRIGGER -> "孵育板入料口卡板检测传感器触发";
 
 			case PROJ_CARD_ERROR_EXPIRYED -> "项目卡过期";
 			case PROJ_CARD_ERROR_WRONG_FUNCTION_NUM -> "项目卡配置的函数数量与项目配置不匹配";

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

@@ -1,16 +1,12 @@
 package a8k.app.service.lowerctrl;
 
+import a8k.app.hardware.driver.*;
 import a8k.app.hardware.type.*;
 import a8k.app.type.ui.ZAppPromopt;
 import a8k.app.type.ui.ZAppPromoptFormsItem;
 import a8k.app.type.ui.MessageLevel;
 import a8k.app.factory.ZAppPromoptFactory;
 import a8k.app.hardware.channel.A8kCanBusService;
-import a8k.app.hardware.driver.InputDetectDriver;
-import a8k.app.hardware.driver.ModuleEnableCtrlDriver;
-import a8k.app.hardware.driver.MiniServoDriver;
-import a8k.app.hardware.driver.PipetteCtrlDriver;
-import a8k.app.hardware.driver.StepMotorCtrlDriver;
 
 import a8k.app.service.background.AppEventBusService;
 import a8k.app.teststate.VirtualDevice;
@@ -35,7 +31,9 @@ public class DeviceMoveToZeroCtrlService {
 		public enum Type {
 			CHECK_TUBE_XCHANNEL_IS_EMPTY,//入料通道是否为空
 			CHECK_PLATE_BOX_IS_COVER,//板夹仓盖子是否盖着
-			CHECK_PLATE_STUCK_DETECTOR_SENSOR_IS_TRIGGER,//板夹仓卡板检测
+			CHECK_PLATE_STUCK_DETECTOR_SENSOR1_IS_TRIGGER,//板夹仓卡板检测
+			CHECK_PLATE_STUCK_DETECTOR_SENSOR2_IS_TRIGGER,//板夹仓卡板检测
+
 			CHECK_PULLERM_IS_IN_ZEROPOS,//检查拉杆电机是否在零点位置
 			CHECK_PUSHERM_IN_IN_ZEROPOS,//检查推杆电机是否在零点位置
 			CHECK_RECYCLE_BIN_IS_OVERFLOW,//检查垃圾箱是否满
@@ -118,8 +116,10 @@ public class DeviceMoveToZeroCtrlService {
 		//				CheckPointType.CHECK_TUBE_XCHANNEL_IS_EMPTY, () -> !inputDetectDriver.getIOState(InputIOId.THChInterPPS) && !inputDetectDriver.getIOState(InputIOId.THChOuterPPS)));
 		checkPoints.add(new Checkpoint("检查板夹仓盖子是否盖上",//
 				Checkpoint.Type.CHECK_PLATE_BOX_IS_COVER, () -> inputDetectDriver.getIOState(InputIOId.PlateBoxCoverClosurePPS)));
-		checkPoints.add(new Checkpoint("检测是否卡板",//
-				Checkpoint.Type.CHECK_PLATE_STUCK_DETECTOR_SENSOR_IS_TRIGGER, () -> !inputDetectDriver.getIOState(InputIOId.PlateBoxPlateStuckPPS)));
+		checkPoints.add(new Checkpoint("检测孵育盘入口是否卡板",//
+				Checkpoint.Type.CHECK_PLATE_STUCK_DETECTOR_SENSOR1_IS_TRIGGER, () -> !inputDetectDriver.getIOState(InputIOId.IncubationPlateInletStuckPPS)));
+//		checkPoints.add(new Checkpoint("检测孵育盘出口是否卡板",//
+//				Checkpoint.Type.CHECK_PLATE_STUCK_DETECTOR_SENSOR2_IS_TRIGGER, () -> !inputDetectDriver.getIOState(InputIOId.IncubationPlateOutletStuckPPS)));
 		//		checkPoints.add(new Checkpoint("检查拉杆电机是否在零点位置",//
 		//				CheckPointType.CHECK_PULLERM_IS_IN_ZEROPOS, () -> inputDetectDriver.getIOState(InputIOId.PullerMZeroPPS)));
 		//		checkPoints.add(new Checkpoint("检查推杆电机是否在零点位置",//
@@ -184,10 +184,17 @@ public class DeviceMoveToZeroCtrlService {
 			log.info("板夹仓推板电机回零");
 			stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.PlatesBoxPusherM);
 			//光学模组初始化
-			log.info("光学模组拉杆电机回零");
-			stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.OptModPullM);
 			log.info("光学模组扫码电机回零");
 			stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.OptModScannerM);
+			log.info("光学模组拉杆电机回零");
+			stepMotorCtrlDriver.stepMotorEasyMoveToEndPointBlock(StepMotorMId.OptModPullM);//
+			stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.OptModPullM);
+			if (inputDetectDriver.getIOState(InputIOId.IncubationPlateOutletStuckPPS)) {
+				throw AppException.of(A8kEcode.APPE_INCUBATION_PLATE_OUTLET_STUCK_DETECTOR_SENSOR_IS_TRIGGER);
+			}
+			if (inputDetectDriver.getIOState(InputIOId.IncubationPlateInletStuckPPS)) {
+				throw AppException.of(A8kEcode.APPE_INCUBATION_PLATE_INLET_STUCK_DETECTOR_SENSOR_IS_TRIGGER);
+			}
 			//转盘归零
 			log.info("转盘回零");
 			stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.IncubatorRotateCtrlM);
@@ -229,11 +236,11 @@ public class DeviceMoveToZeroCtrlService {
 
 		//弹出无效物料
 		if (firstInit) {
-			log.error("TODO:..............................清空孵育盘");
 			firstInit = false;
 		}
 		//弹出试管架
 		tubeFeedingCtrlService.ejectTubeHolder();
+		tubeFeedingCtrlService.moveTubeRackMoveToEnterPos();
 		//丢弃tip头
 		hbotMoveExCtrlService.initPipetterGun();
 		//hbot快速归零

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

@@ -3,7 +3,6 @@ package a8k.app.service.lowerctrl;
 import a8k.app.hardware.driver.InputDetectDriver;
 import a8k.app.hardware.driver.StepMotorCtrlDriver;
 import a8k.app.hardware.type.StepMotorMId;
-import a8k.app.hardware.type.StepMotorRegIndex;
 import a8k.app.service.param.pos.TurntablePosParamMgr;
 import a8k.app.type.a8k.pos.IncubatorPos;
 import a8k.app.type.exception.AppException;
@@ -31,7 +30,7 @@ public class TurnableMoveCtrlService {
 
 	private void checkBeforeMoveTrunable() throws AppException {
 		//板夹仓卡板检测
-		if (inputDetectDriver.getIOState(InputIOId.PlateBoxPlateStuckPPS)) {
+		if (inputDetectDriver.getIOState(InputIOId.IncubationPlateInletStuckPPS)) {
 			log.error("PlateBoxPlateStuckPPS is trigger");
 			throw new AppException(A8kEcode.APPE_PLATE_STUCK_DETECTOR_SENSOR_TRIGGER);
 		}
@@ -97,6 +96,8 @@ public class TurnableMoveCtrlService {
 		int dTargetPos = MinRotationAngle.minRotationAngle(nowPos, pos, 36000);
 		int targetPos  = dTargetPos + nowPos;
 
+		log.info("to:{} now:{} dpos:{} targetPos:{}", pos, nowPos, dTargetPos, targetPos);
+
 
 		//先移动半个间距，用来检测是否发生卡板
 		if (nowPos < targetPos) {
@@ -123,15 +124,15 @@ public class TurnableMoveCtrlService {
 	}
 
 	public void trunableMoveToPushPos(IncubatorPos index) throws AppException {
-		trunableMoveTo(turntablePosParamMgr.getPushPos0() + index.off * turntablePosParamMgr.getPosSpacing());
+		trunableMoveTo(turntablePosParamMgr.getPushPos0() - index.off * turntablePosParamMgr.getPosSpacing());
 	}
 
 	public void trunableMoveToPullPos(IncubatorPos index) throws AppException {
-		trunableMoveTo(turntablePosParamMgr.getPullPos0() + index.off * turntablePosParamMgr.getPosSpacing());
+		trunableMoveTo(turntablePosParamMgr.getPullPos0() - index.off * turntablePosParamMgr.getPosSpacing());
 	}
 
 	public void trunableMoveToDropLiquidPos(IncubatorPos index) throws AppException {
-		trunableMoveTo(turntablePosParamMgr.getDropLiquidPos0() + index.off * turntablePosParamMgr.getPosSpacing());
+		trunableMoveTo(turntablePosParamMgr.getDropLiquidPos0() - index.off * turntablePosParamMgr.getPosSpacing());
 	}
 
 

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

@@ -57,7 +57,7 @@ public class InputIOStateScannerPage {
 	public Boolean getPlateBoxCoverClosurePPS() throws AppException {return inputDetectDriver.getIOState(InputIOId.PlateBoxCoverClosurePPS);}
 
 	@ExtApiStatu(name = "板夹仓-卡板光电", order = 9)
-	public Boolean getPlateBoxPlateStuckPPS() throws AppException {return inputDetectDriver.getIOState(InputIOId.PlateBoxPlateStuckPPS);}
+	public Boolean getPlateBoxPlateStuckPPS() throws AppException {return inputDetectDriver.getIOState(InputIOId.IncubationPlateInletStuckPPS);}
 
 	@ExtApiStatu(name = "光学模组-拉杆电机-零点光电", order = 10)
 	public Boolean getPullerMZeroPPS() throws AppException {return inputDetectDriver.getIOState(InputIOId.PullerMZeroPPS);}
@@ -75,7 +75,7 @@ public class InputIOStateScannerPage {
 	//OptModulePlateStuckPPS
 
 	@ExtApiStatu(name = "光学模组-板卡光电", order = 14)
-	public Boolean getOptModulePlateStuckPPS() throws AppException {return inputDetectDriver.getIOState(InputIOId.OptModulePlateStuckPPS);}
+	public Boolean getOptModulePlateStuckPPS() throws AppException {return inputDetectDriver.getIOState(InputIOId.IncubationPlateOutletStuckPPS);}
 
 	@ExtApiStatu(name = "废料仓-到位", order = 15)
 	public Boolean getRecycleBinInPlacePPS() throws AppException {return inputDetectDriver.getIOState(InputIOId.RecycleBinInPlacePPS);}

src/main/java/a8k/extui/page/test/verification/P31ReactionPlatesTransmitPosVerificationPage.java

@@ -45,7 +45,6 @@ public class P31ReactionPlatesTransmitPosVerificationPage {
 
 
 	public void trunableMoveToPushPos(IncubatorPos index) throws AppException {
-		turnableMoveCtrlService.trunableMoveToPushPos(index);
 		plateBoxCtrlService.pushPlateQuick(ConsumableGroup.CG1, index);
 	}