update

src/main/java/a8k/appbean/A8kScanCurve.java

@@ -0,0 +1,17 @@
+package a8k.appbean;
+
+import java.util.List;
+
+public class A8kScanCurve {
+	public List<Integer> scanDataCurve;
+	public List<Integer> refCurve;
+	public List<Integer> refLine;
+
+	public A8kScanCurve() {
+	}
+
+	public A8kScanCurve(List<Integer> scanDataCurve, List<Integer> refLine) {
+		this.scanDataCurve = scanDataCurve;
+		this.refLine      = refLine;
+	}
+}

src/main/java/a8k/appbean/IncubatorPos.java

@@ -0,0 +1,10 @@
+package a8k.appbean;
+
+public enum IncubatorPos {
+	POS01, POS02, POS03, POS04, POS05, POS06, POS07, POS08, POS09, POS10, POS11, POS12, POS13, POS14, POS15, POS16, POS17, POS18, POS19, POS20;
+
+	final public Integer off;
+	private IncubatorPos() {
+		this.off = ordinal();
+	}
+}

src/main/java/a8k/appbean/PlateBoxCh.java

@@ -0,0 +1,12 @@
+package a8k.appbean;
+
+public enum PlateBoxCh {
+	CH1, CH2, CH3, CH4, CH5, CH6,
+	;
+
+	final public Integer off;
+
+	PlateBoxCh() {
+		this.off = ordinal();
+	}
+}

src/main/java/a8k/appbean/PlateInfo.java

@@ -0,0 +1,25 @@
+package a8k.appbean;
+
+
+import java.util.List;
+
+public class PlateInfo {
+
+	public Integer lot;
+	public Integer item;
+	public Boolean legal;
+	public String  rawcode;
+
+	public PlateInfo() {
+	}
+
+	public PlateInfo(Integer lot, Integer item) {
+		this.lot  = lot;
+		this.item = item;
+	}
+
+
+	public String toString() {
+		return String.format("%02d-%02d", lot, item);
+	}
+}

src/main/java/a8k/appbean/ecode/AppRet.java

@@ -9,6 +9,7 @@ public class AppRet<T> {
 
 	boolean         success = false;
 	AppRetEcodeInfo ecode;
+	String          dataType;
 	T               data;
 	long            timestamp;//接口请求时间
 	String          traceInfo;
@@ -44,9 +45,10 @@ public class AppRet<T> {
 
 	public static <T> AppRet<T> success(T data) {
 		AppRet<T> r = new AppRet<>();
-		r.success = true;
-		r.ecode   = null;
-		r.data    = data;
+		r.success  = true;
+		r.ecode    = null;
+		r.data     = data;
+		r.dataType = data.getClass().getSimpleName();
 		return r;
 	}
 

src/main/java/a8k/canbus/A8kCanBusService.java

@@ -1,6 +1,7 @@
 package a8k.canbus;
 
 import a8k.app_eventbus.appevent.A8kCanBusOnConnectEvent;
+import a8k.appbean.PlateInfo;
 import a8k.canbus.custom_param_mgr.A8kModCustomParamMgr;
 import a8k.canbus.protocol.*;
 import a8k.canbus.protocol.MId;
@@ -22,10 +23,7 @@ import java.net.URI;
 import java.net.URISyntaxException;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
-import java.util.HashMap;
-import java.util.Map;
-import java.util.Timer;
-import java.util.TimerTask;
+import java.util.*;
 import java.util.concurrent.BlockingQueue;
 import java.util.concurrent.LinkedBlockingQueue;
 import java.util.concurrent.TimeUnit;
@@ -154,18 +152,68 @@ public class A8kCanBusService {
 		}
 		return new A8kPacket(buffer.array());
 	}
-	//	fan_controler_set_speed
+
+
+	//plate_code_scaner_adc_readraw
+
+
+	public void plateCodeScanerPushCardAndScan(MId id, Integer finalStopPos) throws HardwareException, InterruptedException {
+		callcmd(id.toInt(), CmdId.plate_code_scaner_push_card_and_scan.toInt(), finalStopPos);
+	}
+
+	public void plateCodeScanerPushCardAndScanBlock(MId id, Integer finalStopPos, Integer actionOvertime) throws HardwareException, InterruptedException {
+		plateCodeScanerPushCardAndScan(id, finalStopPos);
+		waitForMod(id, actionOvertime);
+	}
+
+	public void plateCodeScanerStopScan(MId id) throws HardwareException, InterruptedException {
+		callcmd(id.toInt(), CmdId.plate_code_scaner_stop_scan.toInt());
+	}
+
+	public List<Integer> plateCodeScanerReadRawResult(MId id) throws HardwareException, InterruptedException {
+		int           i      = 0;
+		List<Integer> result = new ArrayList<>();
+		while (true) {
+			var rxPacket = callcmd(id.toInt(), CmdId.plate_code_scaner_read_result.toInt(), i++);
+			if (rxPacket.getCmdContent().length == 0) {
+				break;
+			}
+			var rawdata = ByteArray.readU16bitArray(rxPacket.getCmdContent());
+			result.addAll(Arrays.asList(rawdata));
+		}
+		return result;
+	}
+
+	public PlateInfo plateCodeScannerReadCode(MId mid) throws HardwareException {
+		var       receipt   = callcmd(mid.toInt(), CmdId.plate_code_scaner_read_code.toInt());
+		PlateInfo plateInfo = new PlateInfo();
+		plateInfo.rawcode = Integer.toBinaryString(receipt.getContentI32(0));
+		plateInfo.legal   = receipt.getContentI32(1) != 0;
+		plateInfo.lot     = receipt.getContentI32(2);
+		plateInfo.item    = receipt.getContentI32(3);
+		return plateInfo;
+	}
+
+	public void plateCodeScanerOpenLaser(MId id) throws HardwareException, InterruptedException {
+		callcmd(id.toInt(), CmdId.plate_code_scaner_open_laser.toInt());
+	}
+
+	public void plateCodeScanerCloseLaser(MId id) throws HardwareException, InterruptedException {
+		callcmd(id.toInt(), CmdId.plate_code_scaner_close_laser.toInt());
+	}
+
+
+	public Integer plateCodeScanerAdcReadRaw(MId id) throws HardwareException, InterruptedException {
+		var packet = callcmd(id.toInt(), CmdId.plate_code_scaner_adc_readraw.toInt());
+		return packet.getContentI32(0);
+	}
+
 
 	public void fanControlerSetSpeed(MId id, int speed) throws HardwareException, InterruptedException {
 		callcmd(id.toInt(), CmdId.fan_controler_set_speed.toInt(), speed);
 	}
 
 
-	//code_scaner_start_scan
-	//code_scaner_stop_scan
-	//code_scaner_result_is_ready
-	//code_scaner_read_scaner_result
-
 	public void codeScanerStartScan(MId id) throws HardwareException, InterruptedException {
 		callcmd(id.toInt(), CmdId.code_scaner_start_scan.toInt());
 	}
@@ -333,6 +381,15 @@ public class A8kCanBusService {
 		waitForMod(id, actionOvertime);
 	}
 
+	public Integer stepMotorReadPosByMoveToZeroBlock(MId id, Integer actionOvertime) throws HardwareException, InterruptedException {
+		stepMotorEnable(id, 1);
+		stepMotorEasyMoveToZeroBlock(id, actionOvertime);
+		Integer nowpos     = stepMotorReadPos(id);
+		Integer measurepos = -moduleGetReg(id, RegIndex.kreg_step_motor_dpos) + nowpos;
+		stepMotorEnable(id, 0);
+		return measurepos;
+	}
+
 	public void stepMotorEasySetCurrentPos(MId id, int pos) throws HardwareException {
 		callcmd(id.toInt(), CmdId.step_motor_easy_set_current_pos.toInt(), pos);
 	}

src/main/java/a8k/canbus/A8kModParamInitializer.java

@@ -62,11 +62,15 @@ public class A8kModParamInitializer implements AppEventListener {
 		canBus.moduleSetReg(MId.ShakeModGripperZM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
 		canBus.moduleSetReg(MId.ShakeModShakeM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
 		canBus.moduleSetReg(MId.PlatesBoxYM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
-		canBus.moduleSetReg(MId.PlatesBoxPusherM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
+		canBus.moduleSetReg(MId.PlatesBoxPusherM, RegIndex.kret_step_motor_io_trigger_append_distance, 3);
 		canBus.moduleSetReg(MId.OptModPullM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
 		canBus.moduleSetReg(MId.OptModScannerM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
 		canBus.moduleSetReg(MId.PipetteModZM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
 		canBus.moduleSetReg(MId.IncubatorRotateCtrlM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
+
+		//
+		canBus.moduleSetReg(MId.OptModPullM, RegIndex.kreg_step_motor_run_to_zero_speed, 500);
+
 	}
 
 	public void forceInitA8kModParams() {

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

@@ -228,12 +228,7 @@ public class MotorTubeRackMoveCtrlService implements HardwareCtrlModule {
 
 	@HardwareServiceAction(name = "通过归零读取当前电机位置", group = "模块基础动作")
 	public AppRet<Integer> readXPosByMoveZero() throws HardwareException, InterruptedException {
-		canBus.stepMotorEnable(MId.FeedingModXM, 1);
-		canBus.stepMotorEasyMoveToZeroBlock(MId.FeedingModXM, getActionOvertime());
-		Integer nowpos     = canBus.stepMotorReadPos(MId.FeedingModXM);
-		Integer measurepos = -canBus.moduleGetReg(MId.FeedingModXM, RegIndex.kreg_step_motor_dpos) + nowpos;
-		canBus.stepMotorEnable(MId.FeedingModXM, 0);
-		return AppRet.success(measurepos);
+		return AppRet.success(canBus.stepMotorReadPosByMoveToZeroBlock(MId.FeedingModXM, getActionOvertime()));
 	}
 
 

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

@@ -1,9 +1,9 @@
 package a8k.service.hardware;
 
+import a8k.appbean.*;
 import a8k.canbus.protocol.A8kEcode;
 import a8k.canbus.protocol.IOId;
 import a8k.canbus.protocol.MId;
-import a8k.appbean.HardwareException;
 import a8k.appbean.ecode.AppRet;
 import a8k.canbus.A8kCanBusService;
 import a8k.utils.*;
@@ -12,6 +12,8 @@ import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.stereotype.Component;
 
+import java.util.ArrayList;
+import java.util.List;
 
 @Component
 @HardwareService(name = "反应板条搬移服务")
@@ -26,7 +28,7 @@ public class ReactionPlatesTransmitCtrlService implements HardwareCtrlModule {
 
 	@HardwareServiceParam(name = "动作超时时间", group = "基础参数")
 	public Integer getActionOvertime() {
-		return hpReader.getInteger("actionOvertime", 5000);
+		return hpReader.getInteger("actionOvertime", 10000);
 	}
 
 	@HardwareServiceParam(name = "板夹仓通道0位置", group = "板夹仓参数")
@@ -55,17 +57,17 @@ public class ReactionPlatesTransmitCtrlService implements HardwareCtrlModule {
 
 	@HardwareServiceParam(name = "仓位0入板位置", group = "转盘参数")
 	public Integer getTurntablePushPos0() {
-		return hpReader.getInteger("TurntablePushPos0", 0);
+		return hpReader.getInteger("TurntablePushPos0", 1650);
 	}
 
 	@HardwareServiceParam(name = "仓位0出板位置", group = "转盘参数")
 	public Integer getTurntablePullPos0() {
-		return hpReader.getInteger("TurntablePullPos0", 0);
+		return hpReader.getInteger("TurntablePullPos0", 1650 + 18000);
 	}
 
 	@HardwareServiceParam(name = "仓位0点滴位", group = "转盘参数")
 	public Integer getTurntableDropLiquidPos0() {
-		return hpReader.getInteger("TurntableDropLiquidPos0", 0);
+		return hpReader.getInteger("TurntableDropLiquidPos0", 1650 + 8950);
 	}
 
 	public Integer getTurntablePosSpacing() {
@@ -77,17 +79,17 @@ public class ReactionPlatesTransmitCtrlService implements HardwareCtrlModule {
 	 */
 	@HardwareServiceParam(name = "拉板目标位置", group = "光学模组参数")
 	public Integer getPullerTargetPos() {
-		return hpReader.getInteger("PullerTargetPos", 0);
+		return hpReader.getInteger("PullerTargetPos", 1147);
 	}
 
 	@HardwareServiceParam(name = "丢板坐标", group = "光学模组参数")
 	public Integer getPlateDropPos() {
-		return hpReader.getInteger("PlateDropPos", 0);
+		return hpReader.getInteger("PlateDropPos", -349);
 	}
 
 	@HardwareServiceParam(name = "扫描待机位", group = "光学模组参数")
 	public Integer getOptScanScandbyPos() {
-		return hpReader.getInteger("OptScanScandbyPos", 0);
+		return hpReader.getInteger("OptScanScandbyPos", 580);
 	}
 
 	/**
@@ -122,11 +124,6 @@ public class ReactionPlatesTransmitCtrlService implements HardwareCtrlModule {
 	   =======================================================================================*/
 
 	private void checkBeforeMoveTrunable() throws HardwareException {
-		//试管平移通道是否有障碍
-		if (canBus.getIOState(IOId.THChInterPPS) || canBus.getIOState(IOId.THChOuterPPS)) {
-			logger.error("THChInterPPS or THChOuterPPS is trigger");
-			throw new HardwareException(A8kEcode.TubeXChannelIsNotEmpty);
-		}
 		//板夹仓卡板检测
 		if (canBus.getIOState(IOId.PlateBoxPlateStuckPPS)) {
 			logger.error("PlateBoxPlateStuckPPS is trigger");
@@ -146,6 +143,14 @@ public class ReactionPlatesTransmitCtrlService implements HardwareCtrlModule {
 		}
 	}
 
+	private void checkBeforeMovePlateBox() throws HardwareException {
+		if (!canBus.getIOState(IOId.PusherMZeroPPS)) {
+			logger.error("PusherM is not in zero pos ");
+			throw new HardwareException(A8kEcode.PusherMInitPosError);
+		}
+	}
+
+
 	/* =======================================================================================
 											基础操作
 	   =======================================================================================*/
@@ -174,42 +179,45 @@ public class ReactionPlatesTransmitCtrlService implements HardwareCtrlModule {
 	@HardwareServiceAction(name = "电机归零", group = "基础操作")
 	@Override
 	public void modGroupMoveToZero() throws HardwareException, InterruptedException {
-		checkBeforeMoveTrunable();
+		//光学模组初始化
+		canBus.stepMotorEasyMoveToZeroBlock(MId.OptModPullM, getActionOvertime());
+		canBus.stepMotorEasyMoveToZeroBlock(MId.OptModScannerM, getActionOvertime());
 
 		//板夹仓初始化
+		checkBeforeMovePlateBox();
 		canBus.stepMotorEasyMoveToZeroBlock(MId.PlatesBoxPusherM, getActionOvertime());
 		canBus.stepMotorEasyMoveToZeroBlock(MId.PlatesBoxYM, getActionOvertime());
-		//光学模组初始化
-		canBus.stepMotorEasyMoveToZeroBlock(MId.OptModPullM, getActionOvertime());
-		canBus.stepMotorEasyMoveToZeroBlock(MId.OptModScannerM, getActionOvertime());
+
 		//转盘归零
+		checkBeforeMoveTrunable();
 		canBus.stepMotorEasyMoveToZeroBlock(MId.IncubatorRotateCtrlM, getActionOvertime());
 	}
 
 	@HardwareServiceAction(name = "电机快速归零", group = "基础操作")
 	@Override
 	public void modGroupMoveToZeroQuick() throws HardwareException, InterruptedException {
-		//试管平移通道是否有障碍
-		checkBeforeMoveTrunable();
+		//光学模组初始化
+		canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.OptModPullM, getActionOvertime());
+		canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.OptModScannerM, getActionOvertime());
 
 		//板夹仓初始化
+		checkBeforeMovePlateBox();
 		canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.PlatesBoxPusherM, getActionOvertime());
 		canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.PlatesBoxYM, getActionOvertime());
-		//光学模组初始化
-		canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.OptModPullM, getActionOvertime());
-		canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.OptModScannerM, getActionOvertime());
+
 		//转盘归零
+		checkBeforeMoveTrunable();
 		canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.IncubatorRotateCtrlM, getActionOvertime());
 	}
 
-	@HardwareServiceAction(name = "转盘移动到推板位", group = "基础操作")
+	@HardwareServiceAction(name = "转盘移动到推板位", group = "单步操作")
 	public void trunableMoveToPushPos(Integer index) throws HardwareException, InterruptedException {
 		checkBeforeMoveTrunable();
 		canBus.stepMotorEasyMoveToBlock(MId.IncubatorRotateCtrlM,//
 				getTurntablePushPos0() + index * getTurntablePosSpacing(), getActionOvertime());
 	}
 
-	@HardwareServiceAction(name = "转盘移动到出板位", group = "基础操作")
+	@HardwareServiceAction(name = "转盘移动到出板位", group = "单步操作")
 	public void trunableMoveToPullPos(Integer index) throws HardwareException, InterruptedException {
 		checkBeforeMoveTrunable();
 		canBus.stepMotorEasyMoveToBlock(MId.IncubatorRotateCtrlM,//
@@ -217,148 +225,74 @@ public class ReactionPlatesTransmitCtrlService implements HardwareCtrlModule {
 
 	}
 
-	@HardwareServiceAction(name = "转盘移动到滴定位", group = "基础操作")
+	@HardwareServiceAction(name = "转盘移动到滴定位", group = "单步操作")
 	public void trunableMoveToDropLiquidPos(Integer index) throws HardwareException, InterruptedException {
 		checkBeforeMoveTrunable();
 		canBus.stepMotorEasyMoveToBlock(MId.IncubatorRotateCtrlM,//
 				getTurntableDropLiquidPos0() + index * getTurntablePosSpacing(), getActionOvertime());
 	}
 
-	/* =======================================================================================
-											板夹仓操作
-	   =======================================================================================*/
-	void pushReactionPlate(int plateBoxChannelNum, int turntablePosIndex) {
-		/*
-			1. 控制转盘移动到第turntablePosIndex个位置
-			2. 控制板夹仓平移到第boxChannelNum个仓位
-			3. 推出板
-				3.1 板推出后检查推板电机终点电机是否触发，如果没有触发，则说明卡板，上报硬件异常
-			4. 板夹推杆回到零点，并执行一次归零动作。
-			5. 板夹仓平移电机，移动零点，并执行一次归零动作，归零后向后相对移动1mm，保证零点触发。
-
-			推板 使用模块 CardWarehouseScanerModule
-			 	指令:    kplate_code_scaner_push_card_and_scan(参数为扫码结束位置，相当于指令moveTo参数)
-			 	相关寄存器:
-			 			kreg_plate_code_scaner_scan_start_pos 		   (每次扫码前需要设置该参数)
-			 			kreg_plate_code_scaner_code_judgment_threshold (扫码前设置，该数值为1，0码判定阈值)
-			 			kreg_plate_code_scaner_item			  (扫码完成读取)
-						kreg_plate_code_scaner_lot 			  (扫码完成读取)
-						kreg_plate_code_scaner_code_legal 	 （扫码完成读取）
-		 */
-	}
 
-	/**
-	 *	读取 推板时的扫码结果LotId
-	 */
-	int plateScanerReadlateLot() {
-		return 0;
+	@HardwareServiceAction(name = "推板", group = "单步操作")
+	public AppRet<PlateInfo> pushPlate(PlateBoxCh PBCh, IncubatorPos turntablePosIndex) throws HardwareException, InterruptedException {
+		trunableMoveToPushPos(turntablePosIndex.off);
+		canBus.stepMotorEasyMoveToBlock(MId.PlatesBoxYM, getPBCh0Pos() + PBCh.off * getPBChSpacing(), getActionOvertime());
+		canBus.plateCodeScanerPushCardAndScanBlock(MId.PlatesBoxScanner, getPusherEndPos(), 10000);
+		canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.PlatesBoxPusherM, getActionOvertime());
+		canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.PlatesBoxYM, getActionOvertime());
+		return AppRet.success(canBus.plateCodeScannerReadCode(MId.PlatesBoxScanner));
 	}
 
-	/**
-	 *	读取 推板时的扫码结果ItermId
-	 */
-	int plateScanerReadPlateIterm() {
-		return 0;
-	}
 
-	/**
-	 *	读取 推板时的扫码结果合法性
-	 */
-	boolean plateScanerReadPlateIsLegal() {
-		return false;
+	@HardwareServiceAction(name = "拉板", group = "单步操作")
+	public void pullPlate(IncubatorPos turntablePosIndex) throws HardwareException, InterruptedException {
+		trunableMoveToPullPos(turntablePosIndex.off);
+		canBus.stepMotorEasyMoveToBlock(MId.OptModScannerM, getOptScanScandbyPos(), getActionOvertime());
+		canBus.stepMotorEasyMoveToBlock(MId.OptModPullM, getPullerTargetPos(), getActionOvertime());
+		canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.OptModPullM, getActionOvertime());
 	}
 
-
-	Integer[] plateScanerReadRawData() {
-		/*
-		 	后续实现效果，
-		 		网页端执行完推板后，点击读取，网页端弹出一个页面，
-		 			页面上有一条曲线
-		 			有曲线的最大值和最小值
-		 			且参考下面代码打上参考线
-        				for (int i = 0; i < 15; i++) {
-          					plot2d->addRefLine(i * 12 + 6 );
-        				}
-		 */
-		return null;
+	@HardwareServiceAction(name = "丢板", group = "单步操作")
+	public void dropPlate() throws HardwareException, InterruptedException {
+		canBus.stepMotorEasyMoveToBlock(MId.OptModScannerM, getPlateDropPos(), getActionOvertime());
+		canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.OptModScannerM, getActionOvertime());
+		canBus.stepMotorEasyMoveToBlock(MId.OptModScannerM, getOptScanScandbyPos(), getActionOvertime());
 	}
 
-	/* =======================================================================================
-											光学模组部分操作
-	   =======================================================================================*/
 
-	void pullReactionPlate(int turntablePosIndex) {
-		/*
-			1.检查当前钩爪出口光电是否触发，如果没有触发，直接报 电机位置异常
-			2.移动转盘
-			3.移动光学模组到丢板的位置
-			4.移动光学模组到待机位置
-			5.钩爪勾取反应板到指定位置
-			6.钩爪动作完成时，检查钩爪零点光电是否触发，如果没有触发报电机阻转异常
-		 */
-	}
-
-	void dropThePlate() {
-		/*
-			光学模组电机移动丢板
-		 */
+	@HardwareServiceAction(name = "显示板夹扫码原始曲线", group = "辅助调试")
+	public AppRet<A8kScanCurve> readPlateScanCurve() throws HardwareException, InterruptedException {
+		List<Integer> scanDataCurve = canBus.plateCodeScanerReadRawResult(MId.PlatesBoxScanner);
+		List<Integer> refLine       = new ArrayList<>();
+		for (int i = 0; i < 15; i++) {
+			refLine.add(i * 12 + 6);
+		}
+		return AppRet.success(new A8kScanCurve(scanDataCurve, refLine));
 	}
 
 
-
-	/* =======================================================================================
-											转盘操作
-	   =======================================================================================*/
-
-
-	AppRet deviceStateCheck() {
-		return AppRet.success();
+	@HardwareServiceAction(name = "读取<转盘>位置", group = "位置测量")
+	public AppRet<Integer> readTrunablePos() throws HardwareException, InterruptedException {
+		return AppRet.success(canBus.stepMotorReadPos(MId.IncubatorRotateCtrlM));
 	}
 
-
-	/**
-	 * 移动转盘到入口位置
-	 * @param turntablePos 第几个仓位
-	 */
-	AppRet moveTurntableToEnterPos(int turntablePos) throws HardwareException {
-		/*
-			注意事项:
-				1.移动前检查，出转盘钩爪电机光电是否触发（两个光电必须触发一个才能执行动作），否则直接抛出 电机位置异常错误
-				2.移动前检测，入转盘钩爪零点光电是否触发。
-				3.移动前检查，入转盘卡板光电是否触发。
-		 */
-
-		if (canBus.getIOState(IOId.PlateBoxPlateStuckPPS) || !canBus.getIOState(IOId.PullerMZeroPPS) || !canBus.getIOState(IOId.PusherMZeroPPS)) {
-			return AppRet.fail(A8kEcode.PlateStuckDetectorSensorTrigger);
-		}
-		return AppRet.success();
+	@HardwareServiceAction(name = "通过归零读取<板夹仓>位置", group = "位置测量")
+	public AppRet<Integer> readPlatesBoxYMPosByMoveToZero() throws HardwareException, InterruptedException {
+		return AppRet.success(canBus.stepMotorReadPosByMoveToZeroBlock(MId.PlatesBoxYM, getActionOvertime()));
 	}
 
-	/**
-	 * 移动转盘到出口位置
-	 * @param turntablePos 第几个仓位
-	 */
-	void moveTurntableToExitPos(int turntablePos) {
-		/*
-			moveTurntableToEnterPos
-		 */
+	@HardwareServiceAction(name = "通过归零读取<推杆>位置", group = "位置测量")
+	public AppRet<Integer> readPlatesBoxPusherMPosByMoveToZero() throws HardwareException, InterruptedException {
+		return AppRet.success(canBus.stepMotorReadPosByMoveToZeroBlock(MId.PlatesBoxPusherM, getActionOvertime()));
 	}
 
-	/**
-	 * 移动转盘到点滴位置
-	 * @param turntablePos 第几个仓位
-	 */
-	void moveTurntableToDropLiquidPos(int turntablePos) {
-		/*
-			同moveTurntableToEnterPos
-		 */
+	@HardwareServiceAction(name = "通过归零读取<拉杆>位置", group = "位置测量")
+	public AppRet<Integer> readOptModPullMPosByMoveToZero() throws HardwareException, InterruptedException {
+		return AppRet.success(canBus.stepMotorReadPosByMoveToZeroBlock(MId.OptModPullM, getActionOvertime()));
 	}
 
-	void emptyTurntable() {
-		/*
-			清空转盘
-		 */
+	@HardwareServiceAction(name = "通过归零读取<光学模组扫描器>位置", group = "位置测量")
+	public AppRet<Integer> readOptModScannerMPosByMoveToZero() throws HardwareException, InterruptedException {
+		return AppRet.success(canBus.stepMotorReadPosByMoveToZeroBlock(MId.OptModScannerM, getActionOvertime()));
 	}
-
-
 }

src/main/java/a8k/utils/ByteArray.java

@@ -27,8 +27,8 @@ public class ByteArray {
 	}
 
 	public static void setU16bit(byte[] code, int index, int value) {
-		code[index+1] = (byte) (value >> 8);
-		code[index] = (byte) value;
+		code[index + 1] = (byte) (value >> 8);
+		code[index]     = (byte) value;
 	}
 
 	public static int readS16bit(byte[] code, int index) {
@@ -44,7 +44,32 @@ public class ByteArray {
 		return code[index + 3] << 24 | (code[index + 2] & 255) << 16 | (code[index + 1] & 255) << 8 | code[index] & 255;
 	}
 
+	public static Integer[] read32bitArray(byte[] code) {
+		int       count = code.length / 4;
+		Integer[] array = new Integer[count];
+		for (int i = 0; i < count; i++) {
+			array[i] = read32bit(code, i * 4);
+		}
+		return array;
+	}
 
+	public static Integer[] read16bitArray(byte[] code) {
+		int       count = code.length / 2;
+		Integer[] array = new Integer[count];
+		for (int i = 0; i < count; i++) {
+			array[i] = readS16bit(code, i * 2);
+		}
+		return array;
+	}
+
+	public static Integer[] readU16bitArray(byte[] code) {
+		int       count = code.length / 2;
+		Integer[] array = new Integer[count];
+		for (int i = 0; i < count; i++) {
+			array[i] = readU16bit(code, i * 2);
+		}
+		return array;
+	}
 
 
 	public static String toByteString(byte[] arrary) {