update

src/main/java/a8k/baseservice/AppExceptionBuilder.java

@@ -1,14 +1,19 @@
 package a8k.baseservice;
 
+import a8k.type.ecode.AppCodeError;
+import a8k.type.ecode.AppError;
 import a8k.type.ecode.ConsumeNotEnoughError;
 import a8k.type.exception.AppException;
 import jakarta.annotation.Resource;
+import org.slf4j.Logger;
 import org.springframework.stereotype.Component;
 import a8k.service.appdata.AppProjInfoMgrService;
 
+import java.util.List;
+
 @Component
 public class AppExceptionBuilder {
-
+	static Logger logger = org.slf4j.LoggerFactory.getLogger(AppExceptionBuilder.class);
 
 	@Resource
 	AppProjInfoMgrService projConfigMgrService;
@@ -19,4 +24,14 @@ public class AppExceptionBuilder {
 		return new AppException(new ConsumeNotEnoughError(projName, projIndex));
 	}
 
+	public AppException buildMutiErrorAppException(List<AppError> errors) {
+		if (errors.size() > 1) {
+			logger.error("buildMutiErrorAppException errors size > 1,drop all errors except the first one");
+		}
+		return new AppException(errors.get(0));
+	}
+
+		public AppException buildAppCodeErrorException(String extraMsg) {
+		return new AppException(new AppCodeError(extraMsg));
+	}
 }

src/main/java/a8k/hardware/type/a8kcanprotocol/A8kEcode.java

@@ -58,6 +58,7 @@ public enum A8kEcode {
 	TubeHolderTypeIsNotSupport(140),//试管架类型不支持
 	EmergencySampleIsProcessing(141),//急诊样本正在处理中
 	ConsumeNotEnough(142),//耗材不足
+	TakeTubeFail(143),//取试管失败
 
 	/**
 	 * 特殊服务错误码

src/main/java/a8k/service/appdevicectrl/AppConsumablesMgrService.java

@@ -8,6 +8,7 @@ import a8k.service.appdata.AppProjInfoMgrService;
 import a8k.service.appdevicectrl.type.app_consumables_mgr_service.*;
 import a8k.service.appstate.AppA8kGStateService;
 import a8k.service.devicedriver.ctrl.ConsumablesScanCtrl;
+import a8k.type.ConsumableGroup;
 import a8k.type.exception.AppException;
 import a8k.type.projecttype.A8kReactionFlowType;
 import a8k.type.projecttype.a8kidcard.A8kIdCardInfo;
@@ -114,42 +115,13 @@ public class AppConsumablesMgrService {
 		assert a8kIdCardInfo != null;
 		assert reactionType != null;
 
-		cState.reactionPlateGroup[ch]          = new ReactionPlateGroup(//
-				result.projIndex, //
-				a8kIdCardInfo.projName, //
-				result.lotId, //
-				a8kIdCardInfo.color, //
-				EachConsumableNum);
-		cState.reactionPlateGroup[ch].editable = true;
-
+		cState.reactionPlateGroup[ch] = new ReactionPlateGroup(result.projIndex, a8kIdCardInfo.projName, result.lotId, a8kIdCardInfo.color, EachConsumableNum);
 		if (reactionType.equals(A8kReactionFlowType.ReactionWithLittBS)) {
-			cState.littBSGroup[ch]          = new LittBSGroup(//
-					result.projIndex, //
-					a8kIdCardInfo.projName, //
-					result.lotId, //
-					a8kIdCardInfo.color, //
-					EachConsumableNum);
-			cState.littBSGroup[ch].editable = true;
-
-			cState.larBSGroup[ch]          = new LarBSGroup();
-			cState.larBSGroup[ch].editable = false;
+			cState.littBSGroup[ch] = new LittBSGroup(result.projIndex, a8kIdCardInfo.projName, result.lotId, a8kIdCardInfo.color, EachConsumableNum);
+			cState.larBSGroup[ch]  = new LarBSGroup();
 		} else if (reactionType.equals(A8kReactionFlowType.ReactionWithLarBsAndDetection)) {
-			cState.littBSGroup[ch]          = new LittBSGroup(//
-					result.projIndex, //
-					a8kIdCardInfo.projName, //
-					result.lotId, //
-					a8kIdCardInfo.color, //
-					EachConsumableNum);
-			cState.littBSGroup[ch].editable = true;
-
-			cState.larBSGroup[ch]          = new LarBSGroup(//
-					result.projIndex, //
-					a8kIdCardInfo.projName, //
-					result.lotId, //
-					a8kIdCardInfo.color, //
-					EachConsumableNum);
-			cState.larBSGroup[ch].editable = true;
-
+			cState.littBSGroup[ch] = new LittBSGroup(result.projIndex, a8kIdCardInfo.projName, result.lotId, a8kIdCardInfo.color, EachConsumableNum);
+			cState.larBSGroup[ch]  = new LarBSGroup(result.projIndex, a8kIdCardInfo.projName, result.lotId, a8kIdCardInfo.color, EachConsumableNum);
 		} else {
 			throw new RuntimeException("未知的反应流程类型");
 		}
@@ -233,9 +205,9 @@ public class AppConsumablesMgrService {
 		var cState = gstate.getConsumableState();
 		assert cState != null;
 		cState.reactionPlateGroup[ch].num = num;
-		if (cState.littBSGroup[ch].editable)
+		if (cState.littBSGroup[ch].enable)
 			cState.littBSGroup[ch].num = num;
-		if (cState.larBSGroup[ch].editable)
+		if (cState.larBSGroup[ch].enable)
 			cState.larBSGroup[ch].num = num;
 	}
 
@@ -257,7 +229,6 @@ public class AppConsumablesMgrService {
 	}
 
 	synchronized public Boolean isHasEnoughConsumables(List<Integer> projIndex) {
-		//
 		//只检查反应板的数量即可
 		for (Integer index : projIndex) {
 			Integer total = getConsumableNum(index);
@@ -273,4 +244,29 @@ public class AppConsumablesMgrService {
 		return total >= 1;
 	}
 
+	synchronized public ConsumableGroup getChannelNumByProjIndex(Integer projIndex) {
+		var cState = gstate.getConsumableState();
+		for (int i = 0; i < cState.reactionPlateGroup.length; i++) {
+			if (cState.reactionPlateGroup[i].projIndex.equals(projIndex)) {
+				if (cState.reactionPlateGroup[i].num > 0) {
+					return ConsumableGroup.fromInt(i);
+				}
+			}
+		}
+		return null;
+	}
+
+	synchronized public Integer allocConsumable(ConsumableGroup ch) {
+		if (ch == null) {
+			return null;
+		}
+		var cState = gstate.getConsumableState();
+		int chNum  = ch.off;
+		if (cState.reactionPlateGroup[chNum].num < 0) {
+			return null;
+		}
+		Integer posIndex = 25 - cState.reactionPlateGroup[chNum].num;
+		setReactionConsumableNum(chNum, cState.reactionPlateGroup[chNum].num - 1);
+		return posIndex;
+	}
 }

src/main/java/a8k/service/appdevicectrl/AppEmergencySamplePosStateMgrService.java

@@ -7,7 +7,7 @@ import a8k.controler.extapi.utils.ExtApiTab;
 import a8k.hardware.type.a8kcanprotocol.A8kEcode;
 import a8k.service.appdata.AppSampleRecordMgrService;
 import a8k.service.appstate.AppA8kGStateService;
-import a8k.service.appstate.AppSampleProcessContextMgrService;
+import a8k.service.appstate.TubeProcessContextMgrService;
 import a8k.service.appstate.type.EmergencyTubePos;
 import a8k.service.appstate.type.Tube;
 import a8k.service.appstate.type.state.TubeState;
@@ -27,7 +27,7 @@ public class AppEmergencySamplePosStateMgrService {
 	AppSampleRecordMgrService sampleRecordMgrService;
 
 	@Resource
-	AppSampleProcessContextMgrService appSampleProcessContextMgrService;
+	TubeProcessContextMgrService tubeProcessContextMgrService;
 
 	/**
 	 * 提交紧急样本设置
@@ -54,7 +54,7 @@ public class AppEmergencySamplePosStateMgrService {
 			}
 			tube.state = TubeState.TO_BE_PROCESSED;
 			sampleRecordMgrService.addEmergencySampleRecord(tube);
-			appSampleProcessContextMgrService.createNewTubeContext(tube);
+			tubeProcessContextMgrService.createNewTubeContext(tube);
 		} else {
 			throw new AppException(A8kEcode.EmergencySampleIsProcessing);
 		}

src/main/java/a8k/service/appdevicectrl/action/DO_PAUSE.java

@@ -40,7 +40,7 @@ public class DO_PAUSE extends A8kStepAction {
 		return cond1 & cond2;
 	}
 
-	@Override public List<A8kPublicResourceType> getDeplyResourceList() {
+	@Override public List<A8kPublicResourceType> getResourceList() {
 		return List.of();
 	}
 }

src/main/java/a8k/service/appdevicectrl/action/DO_START.java

@@ -51,7 +51,7 @@ public class DO_START extends A8kStepAction {
 		return cond1 & cond2;
 	}
 
-	@Override public List<A8kPublicResourceType> getDeplyResourceList() {
+	@Override public List<A8kPublicResourceType> getResourceList() {
 		return List.of(A8kPublicResourceType.SampleTransferXMotor);
 	}
 }

src/main/java/a8k/service/appdevicectrl/action/DO_STOP.java

@@ -39,7 +39,7 @@ public class DO_STOP extends A8kStepAction {
 		return cond1 & cond2;
 	}
 
-	@Override public List<A8kPublicResourceType> getDeplyResourceList() {
+	@Override public List<A8kPublicResourceType> getResourceList() {
 		return List.of();
 	}
 }

src/main/java/a8k/service/appdevicectrl/action/base/A8kActionStepType.java

@@ -6,6 +6,11 @@ public enum A8kActionStepType {
 	DO_STOP, //停止
 	SEQ1_ENTER_TUBEHOLDER_AND_SCAN, //入料并扫描
 	SEQ2_SWITCH_TO_THE_NEXT_TUBE,// 切换到下一个试管
+	SEQ3_PRE_PROCESS,
+
+//	SEQ4_PROCESS,
+//	SEQ5_POS_PROCESS_TUBE,
+
 
 	DO_EJECT_TUBEHOLDER, //弹出试管架
 

src/main/java/a8k/service/appdevicectrl/action/base/A8kStepAction.java

@@ -22,7 +22,7 @@ public class A8kStepAction {
 		return checkCondition();
 	}
 
-	public List<A8kPublicResourceType> getDeplyResourceList() {
+	public List<A8kPublicResourceType> getResourceList() {
 		return null;
 	}
 

src/main/java/a8k/service/appdevicectrl/action/mainflow/DO_EJECT_TUBEHOLDER.java

@@ -52,7 +52,7 @@ public class DO_EJECT_TUBEHOLDER extends A8kStepAction {
 		return cond1 & cond2 & cond3;
 	}
 
-	@Override public List<A8kPublicResourceType> getDeplyResourceList() {
+	@Override public List<A8kPublicResourceType> getResourceList() {
 		return List.of(A8kPublicResourceType.SampleTransferXMotor);
 	}
 }

src/main/java/a8k/service/appdevicectrl/action/mainflow/SEQ1_ENTER_TUBEHOLDER_AND_SCAN.java

@@ -10,7 +10,7 @@ import a8k.service.appdevicectrl.AppTubeSettingMgrService;
 import a8k.service.appdevicectrl.action.base.A8kActionStepType;
 import a8k.service.appdevicectrl.action.base.A8kStepAction;
 import a8k.service.appstate.AppA8kGStateService;
-import a8k.service.appstate.AppSampleProcessContextMgrService;
+import a8k.service.appstate.TubeProcessContextMgrService;
 import a8k.service.appstate.MainFlowCtrlState;
 import a8k.service.appstate.resource.A8kPublicResourceType;
 import a8k.service.appstate.type.TubeHolder;
@@ -72,9 +72,9 @@ public class SEQ1_ENTER_TUBEHOLDER_AND_SCAN extends A8kStepAction {
 	@Resource
 	AppTubeSettingMgrService          appTubeSettingMgrService;
 	@Resource
-	AppSampleRecordMgrService         appSampleRecordMgrService; //样本管理服务
+	AppSampleRecordMgrService    appSampleRecordMgrService; //样本管理服务
 	@Resource
-	AppSampleProcessContextMgrService appSampleProcessContextMgrService;
+	TubeProcessContextMgrService tubeProcessContextMgrService;
 
 	MainFlowCtrlState mfcs;
 
@@ -221,7 +221,7 @@ public class SEQ1_ENTER_TUBEHOLDER_AND_SCAN extends A8kStepAction {
 
 		logger.info("将样本信息写入数据库");
 		appSampleRecordMgrService.addSampleRecord(state.tubes);
-		appSampleProcessContextMgrService.createNewTubeContexts(state.tubes);
+		tubeProcessContextMgrService.createNewTubeContexts(state.tubes);
 
 
 		logger.info("更新试管架状态");
@@ -238,7 +238,7 @@ public class SEQ1_ENTER_TUBEHOLDER_AND_SCAN extends A8kStepAction {
 		return cond1 && cond2 && cond3;
 	}
 
-	@Override public List<A8kPublicResourceType> getDeplyResourceList() {
+	@Override public List<A8kPublicResourceType> getResourceList() {
 		return List.of(A8kPublicResourceType.SampleTransferXMotor);
 	}
 

src/main/java/a8k/service/appdevicectrl/action/mainflow/SEQ2_SWITCH_TO_THE_NEXT_TUBE.java

@@ -137,7 +137,7 @@ public class SEQ2_SWITCH_TO_THE_NEXT_TUBE extends A8kStepAction {
 		return cond1 && cond2 && cond3;
 	}
 
-	@Override public List<A8kPublicResourceType> getDeplyResourceList() {
+	@Override public List<A8kPublicResourceType> getResourceList() {
 		return List.of(A8kPublicResourceType.SampleTransferXMotor);
 	}
 }

src/main/java/a8k/service/appdevicectrl/action/mainflow/SEQ3_PRE_PROCESS.java

@@ -0,0 +1,221 @@
+package a8k.service.appdevicectrl.action.mainflow;
+
+import a8k.OS;
+import a8k.baseservice.AppExceptionBuilder;
+import a8k.baseservice.appeventbus.AppEventBusService;
+import a8k.hardware.type.a8kcanprotocol.A8kEcode;
+import a8k.service.appdevicectrl.AppConsumablesMgrService;
+import a8k.service.appdevicectrl.action.base.A8kActionStepType;
+import a8k.service.appdevicectrl.action.base.A8kStepAction;
+import a8k.service.appstate.AppA8kGStateService;
+import a8k.service.appstate.TubeProcessContextMgrService;
+import a8k.service.appstate.resource.A8kPublicResourceType;
+import a8k.service.appstate.type.Tube;
+import a8k.service.appstate.type.TubeHolder;
+import a8k.service.appstate.type.state.IncubationSubTankState;
+import a8k.service.appstate.type.state.TubeState;
+import a8k.service.devicedriver.ctrl.HbotControlService;
+import a8k.service.devicedriver.ctrl.ReactionPlatesTransmitCtrl;
+import a8k.service.devicedriver.ctrl.SampleScanTransportCtrl;
+import a8k.service.devicedriver.ctrl.SamplesPreProcesCtrl;
+import a8k.type.ConsumableGroup;
+import a8k.type.IncubatorPos;
+import a8k.type.ecode.AppError;
+import a8k.type.exception.AppException;
+import a8k.type.type.A8kTubeHolderType;
+import a8k.utils.ZFnCall;
+import jakarta.annotation.PostConstruct;
+import jakarta.annotation.Resource;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.stereotype.Component;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Objects;
+import java.util.concurrent.*;
+
+/**
+ *
+ *  核对物料资源是否足够
+ *	TUBE
+ *		TO_BE_PROCESSED --> PRE_PROCESSING
+ */
+@Component
+public class SEQ3_PRE_PROCESS extends A8kStepAction {
+	static Logger logger = LoggerFactory.getLogger(SEQ3_PRE_PROCESS.class);
+
+	SEQ3_PRE_PROCESS() {
+		super(A8kActionStepType.SEQ2_SWITCH_TO_THE_NEXT_TUBE);
+	}
+
+	@Resource
+	AppA8kGStateService gstate;
+
+	@Resource
+	SampleScanTransportCtrl sstc;
+
+	@Resource
+	AppConsumablesMgrService consumablesMgrService;
+
+	@Resource
+	AppEventBusService ebus;
+
+	@Resource
+	AppExceptionBuilder ebuilder;
+
+	@Resource
+	TubeProcessContextMgrService tubeProcessContextMgrService;
+
+	@Resource
+	ReactionPlatesTransmitCtrl reactionPlatesTransmitCtrl;
+
+	@Resource
+	SamplesPreProcesCtrl samplesPreProcesCtrl;
+
+	@Resource
+	HbotControlService hbotControlService;
+
+	ThreadPoolExecutor executor = new ThreadPoolExecutor(1, 3, 0, TimeUnit.MILLISECONDS, new ArrayBlockingQueue<>(10));
+
+
+	@PostConstruct
+	void init() {
+	}
+
+
+	/**
+	 * 推出反应板夹
+	 * @throws AppException 异常
+	 */
+	void prepareReactionPlate() throws AppException {
+		Tube                  tube              = gstate.getCurProcessingTube();
+		List<Integer>         projIndex         = tube.projIndex;
+		List<IncubatorPos>    incubatorPos      = tube.incubatorPos;
+		List<ConsumableGroup> bindConsumablesCh = tube.bindConsumablesCh;
+
+		for (int i = 0; i < projIndex.size(); i++) {
+			var tank = gstate.getIncubationPlate().getSubTank(incubatorPos.get(i));
+			reactionPlatesTransmitCtrl.pushPlate(bindConsumablesCh.get(i), incubatorPos.get(i));
+			tank.state = IncubationSubTankState.WAITING_FOR_DROP;
+		}
+	}
+
+	/**
+	 * 摇匀并取盖
+	 * @throws AppException
+	 */
+	void shakeAndTakeCap() throws AppException {
+		Tube tube = gstate.getCurProcessingTube();
+		if (tube.isEmergency) {
+			//如果事急诊位则什么也不做
+			return;
+		}
+
+		TubeHolder tubeHolder = gstate.getTubeHolder();
+		if (!tubeHolder.tubeHolderType.equals(A8kTubeHolderType.BloodTube)) {
+			//如果不是全血试管则什么也不做
+			return;
+		}
+
+		logger.info("摇匀并取盖");
+		samplesPreProcesCtrl.takeTubeAndJudgeTubeExist(tube.isHighTube);
+		samplesPreProcesCtrl.shakeTube(45, 5);
+		samplesPreProcesCtrl.takeTubeCap();
+	}
+
+	void hbotPrepareTip() throws AppException {
+
+
+
+		Tube tube = gstate.getCurProcessingTube();
+	}
+
+	@Override public void doaction() throws AppException {
+
+		Tube tube = gstate.getCurProcessingTube();
+		//构建样本和耗材绑定关系
+		List<ConsumableGroup> bindConsumableCH       = new ArrayList<>();
+		List<Integer>         consumablePosIndexList = new ArrayList<>();
+		List<IncubatorPos>    incubatorPosList       = new ArrayList<>();
+		for (Integer projIndex : tube.projIndex) {
+			ConsumableGroup chNum              = consumablesMgrService.getChannelNumByProjIndex(projIndex);
+			Integer         consumablePosIndex = consumablesMgrService.allocConsumable(chNum);
+
+
+			if (chNum == null) {
+				logger.error("apply consumable failed, projIndex:{}", projIndex);
+				throw ebuilder.buildAppCodeErrorException("预处理阶段，申请耗材失败");
+			}
+			if (consumablePosIndex == null) {
+				logger.error("alloc consumable failed, projIndex:{}", projIndex);
+				throw ebuilder.buildAppCodeErrorException("预处理阶段，申请耗材失败x");
+			}
+			bindConsumableCH.add(chNum);
+			consumablePosIndexList.add(consumablePosIndex);
+			incubatorPosList = gstate.getIncubationPlate().getEmptyPosList(tube.projIndex.size());
+		}
+		tube.bindConsumablesCh = bindConsumableCH;
+		tube.consumablePos     = consumablePosIndexList;
+		tube.incubatorPos      = incubatorPosList;
+
+		tubeProcessContextMgrService.updateTubeContext(tube);//更新样本上下文
+
+
+		//检测反应板是否有空位
+		if (gstate.getIncubationPlate().getEmptyPosNum() < tube.projIndex.size()) {
+			throw ebuilder.buildAppCodeErrorException("预处理阶段,反应板空位不足");
+		}
+
+		//准备反应板夹
+		var doPrepareReactionPlateFuture = executor.submit(() -> ZFnCall.callfn(this::prepareReactionPlate));
+		//摇匀并取盖
+		var doShakeAndTakeCapFuture = executor.submit(() -> ZFnCall.callfn(this::shakeAndTakeCap));
+		//准备Hbot Tip
+		var doHbotPrepareTipFuture = executor.submit(() -> ZFnCall.callfn(this::hbotPrepareTip));
+
+		wait(doPrepareReactionPlateFuture);
+		wait(doShakeAndTakeCapFuture);
+		wait(doHbotPrepareTipFuture);
+
+		List<AppError> errors = new java.util.ArrayList<>(List.of());
+		try {
+			errors.add(doPrepareReactionPlateFuture.get());
+			errors.add(doShakeAndTakeCapFuture.get());
+			errors.add(doHbotPrepareTipFuture.get());
+		} catch (InterruptedException | ExecutionException ignored) {
+		}
+		errors.removeIf(Objects::isNull);
+		if (!errors.isEmpty()) {
+			throw ebuilder.buildMutiErrorAppException(errors);
+		}
+		//
+
+	}
+
+	@Override public Boolean checkCondition() {
+		//当前正在工作
+		Boolean cond1 = gstate.isWorking();
+		//有需要进行预处理的样本
+		Boolean cond2 = gstate.getCurProcessingTube() != null && gstate.getCurProcessingTube().state.equals(TubeState.PRE_PROCESSING);
+		return cond1 && cond2;
+	}
+
+	@Override public List<A8kPublicResourceType> getResourceList() {
+		return List.of(
+				A8kPublicResourceType.IncubationPlateMotor,
+				A8kPublicResourceType.PlatesBoxMotor,
+				A8kPublicResourceType.HBOT
+		);
+	}
+
+	//
+	//	UTILS
+	//
+
+	void wait(Future<?> future) {
+		while (!future.isDone()) {
+			OS.forceSleep(100);
+		}
+	}
+}

src/main/java/a8k/service/appdevicectrl/scheduler/MainFlowCtrlScheduler.java

@@ -117,7 +117,7 @@ public class MainFlowCtrlScheduler {
 
 			for (A8kStepAction action : stepActionList) {
 				if (action.checkCondition()) {
-					Boolean relayResourceSuc = appResourceMgrService.applyForResources(this, action.getDeplyResourceList());
+					Boolean relayResourceSuc = appResourceMgrService.applyForResources(this, action.getResourceList());
 					if (relayResourceSuc) {
 						dowhatList.add(action);
 					}

src/main/java/a8k/service/appdevicectrl/type/app_consumables_mgr_service/LarBSGroup.java

@@ -5,8 +5,8 @@ public class LarBSGroup {
 	public String  projName; //项目名称
 	public String  lotId    = ""; //批次号
 	public String  color    = "";  //颜色
-	public Integer num      = 0;
-	public Boolean editable = false;
+	public Integer num    = 0;
+	public Boolean enable = false;
 
 	public LarBSGroup() {
 	}

src/main/java/a8k/service/appdevicectrl/type/app_consumables_mgr_service/LittBSGroup.java

@@ -4,11 +4,12 @@ public class LittBSGroup {
 	public Integer projIndex; //项目ID
 	public String  projName; //项目名称
 	public String  lotId    = ""; //批次号
-	public String  color    = "";  //颜色
-	public Boolean editable = false;//是否可以被修改，
-	public Integer num      = 0;
+	public String  color  = "";  //颜色
+	public Boolean enable = false;//是否可以被修改，
+	public Integer num    = 0;
 
 	public LittBSGroup() {
+		enable = false;
 	}
 
 	public LittBSGroup(Integer projIndex, String projName, String lotId, String color, Integer num) {
@@ -17,5 +18,6 @@ public class LittBSGroup {
 		this.lotId     = lotId;
 		this.color     = color;
 		this.num       = num;
+		enable = true;
 	}
 }

src/main/java/a8k/service/appdevicectrl/type/app_consumables_mgr_service/ReactionPlateGroup.java

@@ -3,9 +3,9 @@ package a8k.service.appdevicectrl.type.app_consumables_mgr_service;
 public class ReactionPlateGroup {
 	public Integer projIndex; //项目ID
 	public String  projName; //项目名称
-	public String  lotId = ""; //批次号
-	public String  color = "";  //颜色
-	public Boolean editable  = false;
+	public String  lotId  = ""; //批次号
+	public String  color  = "";  //颜色
+	public Boolean enable = false;
 
 	public Integer num = 0;
 

src/main/java/a8k/service/appstate/AppSampleProcessContextMgrService.java → src/main/java/a8k/service/appstate/TubeProcessContextMgrService.java

@@ -8,22 +8,30 @@ import java.util.ArrayList;
 import java.util.List;
 
 @Component
-public class AppSampleProcessContextMgrService {
+public class TubeProcessContextMgrService {
 
 	List<TubeProcessContext> contexts = new ArrayList<>();
 
+
+	void assignTubeProcessContext(TubeProcessContext cxt, Tube tube) {
+		cxt.sampleid          = tube.sampleid;
+		cxt.isHighTube        = tube.isHighTube;
+		cxt.isEmergency       = tube.isEmergency;
+		cxt.bloodType         = tube.bloodType;
+		cxt.sampleBarcode     = tube.sampleBarcode;
+		cxt.userid            = tube.userid;
+		cxt.projIndex         = tube.projIndex;
+		cxt.bindConsumablesCh = tube.bindConsumablesCh;
+		cxt.consumablePos     = tube.consumablePos;
+		cxt.incubatorPos      = tube.incubatorPos;
+	}
+
 	synchronized public void createNewTubeContext(Tube tube) {
 		assert tube != null;
 		assert !tube.sampleid.isEmpty();
 
 		TubeProcessContext context = new TubeProcessContext();
-		context.sampleid      = tube.sampleid;
-		context.isHighTube    = tube.isHighTube;
-		context.isEmergency   = tube.isEmergency;
-		context.bloodType     = tube.bloodType;
-		context.sampleBarcode = tube.sampleBarcode;
-		context.userid        = tube.userid;
-		context.projIndex     = tube.projIndex;
+		assignTubeProcessContext(context, tube);
 		contexts.add(context);
 	}
 
@@ -42,5 +50,11 @@ public class AppSampleProcessContextMgrService {
 		return null;
 	}
 
+	synchronized public void updateTubeContext(Tube tube) {
+		TubeProcessContext context = getTubeContext(tube.sampleid);
+		if (context != null) {
+			assignTubeProcessContext(context, tube);
+		}
+	}
 
 }

src/main/java/a8k/service/appstate/resource/A8kPublicResourceType.java

@@ -2,4 +2,7 @@ package a8k.service.appstate.resource;
 
 public enum A8kPublicResourceType {
 	SampleTransferXMotor,//样本平移电机
+	IncubationPlateMotor,//孵育盘电机
+	PlatesBoxMotor,//板夹仓电机
+	HBOT,//HBOT
 }

src/main/java/a8k/service/appstate/type/IncubationPlate.java

@@ -3,6 +3,8 @@ package a8k.service.appstate.type;
 import a8k.service.appstate.type.state.IncubationSubTankState;
 import a8k.type.IncubatorPos;
 
+import java.util.List;
+
 public class IncubationPlate {
 	public IncubationSubTank[] subtanks      = new IncubationSubTank[20];
 	public IncubatorPos        incubationPos = IncubatorPos.SPACE01;
@@ -13,7 +15,7 @@ public class IncubationPlate {
 		}
 	}
 
-	public IncubatorPos getEmptyPos() {
+	synchronized public IncubatorPos getEmptyPos() {
 		for (IncubationSubTank subtank : subtanks) {
 			if (subtank.state.equals(IncubationSubTankState.EMPTY)) {
 				return subtank.pos;
@@ -22,7 +24,23 @@ public class IncubationPlate {
 		return null;
 	}
 
-	public Integer getEmptyPosNum() {
+	synchronized public List<IncubatorPos> getEmptyPosList(Integer num) {
+		List<IncubatorPos> ret = new java.util.ArrayList<>();
+		for (IncubationSubTank subtank : subtanks) {
+			if (subtank.state.equals(IncubationSubTankState.EMPTY)) {
+				ret.add(subtank.pos);
+				if (ret.size() >= num) {
+					break;
+				}
+			}
+		}
+		if (ret.size() < num) {
+			return null;
+		}
+		return ret;
+	}
+
+	synchronized public Integer getEmptyPosNum() {
 		Integer num = 0;
 		for (IncubationSubTank subtank : subtanks) {
 			if (subtank.state.equals(IncubationSubTankState.EMPTY)) {
@@ -32,5 +50,14 @@ public class IncubationPlate {
 		return num;
 	}
 
+	synchronized public IncubationSubTank getSubTank(IncubatorPos pos) {
+		for (IncubationSubTank subtank : subtanks) {
+			if (subtank.pos.equals(pos)) {
+				return subtank;
+			}
+		}
+		return null;
+	}
+
 
 }

src/main/java/a8k/service/appstate/type/Tube.java

@@ -1,6 +1,8 @@
 package a8k.service.appstate.type;
 
 import a8k.service.appstate.type.state.TubeState;
+import a8k.type.ConsumableGroup;
+import a8k.type.IncubatorPos;
 import a8k.type.type.BloodType;
 
 import java.util.ArrayList;
@@ -18,9 +20,9 @@ public class Tube {
 	public List<Integer> projIndex     = new ArrayList<>(); //项目代码
 
 	//
-	public TubeState state = TubeState.EMPTY; //样本被处理的状态
-
-
-
+	public TubeState             state             = TubeState.EMPTY; //样本被处理的状态
+	public List<ConsumableGroup> bindConsumablesCh = new ArrayList<>(); //耗材绑定的通道号
+	public List<Integer>         consumablePos     = new ArrayList<>(); //使用的耗材的位置
+	public List<IncubatorPos>    incubatorPos      = new ArrayList<>(); //孵育位置
 
 }

src/main/java/a8k/service/appstate/type/TubeProcessContext.java

@@ -1,5 +1,7 @@
 package a8k.service.appstate.type;
 
+import a8k.type.ConsumableGroup;
+import a8k.type.IncubatorPos;
 import a8k.type.type.BloodType;
 
 import java.util.ArrayList;
@@ -11,11 +13,13 @@ public class TubeProcessContext {
 	public Boolean isHighTube  = false;
 	public Boolean isEmergency = false;
 
-	public BloodType     bloodType     = BloodType.WHOLE_BLOOD; //血液类型
-	public String        sampleBarcode = ""; //用于请求用户信息的条码ID
-	public String        userid        = "";   //用户输入的样本ID，不做逻辑，只做展示
-	public List<Integer> projIndex     = new ArrayList<>(); //项目代码
-
+	public BloodType             bloodType         = BloodType.WHOLE_BLOOD; //血液类型
+	public String                sampleBarcode     = ""; //用于请求用户信息的条码ID
+	public String                userid            = "";   //用户输入的样本ID，不做逻辑，只做展示
+	public List<Integer>         projIndex         = new ArrayList<>(); //项目代码
+	public List<ConsumableGroup> bindConsumablesCh = new ArrayList<>(); //耗材绑定的通道号
+	public List<Integer>         consumablePos     = new ArrayList<>(); //耗材索引
+	public List<IncubatorPos>    incubatorPos      = new ArrayList<>(); //孵育位置
 
 
 }

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

@@ -3,6 +3,9 @@ package a8k.service.devicedriver.ctrl;
 import a8k.controler.extapi.pagecontrol.ExtApiTabConfig;
 import a8k.hardware.A8kPipetteCtrlModule;
 import a8k.hardware.type.regindex.PipetteRegIndex;
+import a8k.service.devicedriver.param.PosParam;
+import a8k.service.devicedriver.param.TimeParam;
+import a8k.type.ConsumableGroup;
 import a8k.type.exception.AppException;
 import a8k.type.cfg.*;
 import a8k.controler.extapi.utils.*;
@@ -30,6 +33,12 @@ public class HbotControlService {
 	@Resource
 	A8kPipetteCtrlModule pipetteCtrlModule;
 
+	@Resource
+	PosParam pp;
+
+	@Resource
+	TimeParam timep;
+
 	Integer ao = 20000;
 
 
@@ -90,7 +99,6 @@ public class HbotControlService {
 		}
 	}
 
-
 	//
 	//	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
@@ -101,268 +109,177 @@ public class HbotControlService {
 	//		return 0;
 	//	}
 
-	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-	// 基础控制
-	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-	//	private void checkPublicArea() throws AppException {
-	//		if (canBus.miniServoReadPos(MId.ShakeModGripperYSV) > getGripperZeroYPos() + 20) {
-	//			logger.error("ShakeModGripperYSV Pos:{} > {}", canBus.miniServoReadPos(MId.ShakeModGripperYSV),
-	//					getGripperZeroYPos() + 20);
-	//			throw new AppException(A8kEcode.ShakeModGripperYSVInXYPublicArea);
-	//		}
-	//	}
+	//	 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+	//	基础控制
+	//	 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
-	//	/**
-	//	 * Hboot 移动
-	//	 *
-	//	 * @param targetPos 目标位置
-	//	 * @throws AppException    e
-	//	 * @throws InterruptedException e
-	//	 */
-	//	public void hbotCheckAndMoveTo(Pos3d targetPos) throws AppException {
-	//		logger.info("hbotCheckAndMoveTo:{}", targetPos);
-	//		if (!canBus.getIOState(IOId.PlateBoxCoverClosurePPS)) {
-	//			throw new AppException(A8kEcode.PlateBoxNotCover);
-	//		}
-	//
-	//
-	//		boolean zEnable    = true;
-	//		boolean hbotEnable = canBus.moduleGetReg(MId.HbotM, RegIndex.kreg_xyrobot_is_enable) == 1;
-	//
-	//		if (pipetteCtrlModule.getReg(PipetteRegIndex.kreg_pipette_zm_is_enable) == 0) {
-	//			pipetteCtrlModule.zMotorEnable(1);
-	//			pipetteCtrlModule.zMotorMoveToZeroPointQuickBlock();
-	//			zEnable = false;
-	//		}
-	//
-	//		if (!pipetteCtrlModule.zAixsZeroPointIsTrigger()) {
-	//			pipetteCtrlModule.zMotorMoveToZeroPointQuickBlock();
-	//		}
-	//
-	//		if (!pipetteCtrlModule.zAixsZeroPointIsTrigger()) {
-	//			throw new AppException(A8kEcode.ZMNotAtZPosWhenHbotTryMove);
-	//		}
-	//		Pos2d         nowHbotPos = canBus.hbotReadPos(MId.HbotM);
-	//		HbotLimitArea sampleArea = pp.getSampleCollectionArea();
-	//
-	//		// 检查采样区域是否有障碍
-	//		//		if (sampleArea.checkIsInArea(nowHbotPos) || sampleArea.checkIsInArea(targetPos.getXYPos())) {
-	//		//			checkPublicArea();
-	//		//		}
-	//
-	//		// HBot移动
-	//		canBus.hbotEnable(MId.HbotM, 1);
-	//		canBus.hbotMoveToBlock(MId.HbotM, targetPos.x - 20, targetPos.y - 20, timep.getActionOvertime());
-	//		canBus.hbotMoveToBlock(MId.HbotM, targetPos.x, targetPos.y, timep.getActionOvertime());
-	//		canBus.hbotMoveToBlock(MId.HbotM, targetPos.x, targetPos.y, timep.getActionOvertime());
-	//
-	//		// Z轴移动
-	//		if (targetPos.z != 0) {
-	//			pipetteCtrlModule.zMotorEnable(1);
-	//			pipetteCtrlModule.zMotorMoveToZeroPointQuickBlock();
-	//			pipetteCtrlModule.zMotorMoveToBlock(targetPos.z);
-	//		}
-	//		pipetteCtrlModule.zMotorEnable(zEnable ? 1 : 0);
-	//		canBus.hbotEnable(MId.HbotM, hbotEnable ? 1 : 0);
-	//	}
-	//
-	//	public void zMoveTo(Integer z) throws AppException {
-	//		if (z == 0) {
-	//			pipetteCtrlModule.zMotorMoveToZeroPointQuickBlock();
-	//		} else {
-	//			pipetteCtrlModule.zMotorMoveToBlock(z);
-	//		}
-	//	}
-	//
-	//	private void hbotCheckAndMoveTo(Pos2d targetPos) throws AppException {
-	//		hbotCheckAndMoveTo(new Pos3d(targetPos.x, targetPos.y, 0));
-	//	}
-	//
-	//	private void modGroupMoveToZero() throws AppException {
-	//		if (!canBus.getIOState(IOId.PlateBoxCoverClosurePPS)) {
-	//			throw new AppException(A8kEcode.PlateBoxNotCover);
-	//		}
-	//
-	//		pipetteCtrlModule.zMotorEnable(1);
-	//		canBus.hbotEnable(MId.HbotM, 1);
-	//
-	//		canBus.hbotMoveToZeroBlock(MId.HbotM, timep.getHbotRuntoZeroActionOvertime());
-	//
-	//		// 丢弃tip
-	//		Pos3d dropPos = pp.getTipDropPos();
-	//		hbotCheckAndMoveTo(dropPos);
-	//		// TODO: canBus.pipetteCtrlInitDeviceBlock(MId.PipetteMod, timep.getActionOvertime());
-	//
-	//		// 快速归零
-	//		modGroupMoveToZeroQuick();
-	//	}
-	//
-	//	private void modGroupMoveToZeroQuick() throws AppException {
-	//		hbotCheckAndMoveTo(new Pos2d(0, 0));
-	//	}
 
+	public void zMoveTo(Integer z) throws AppException {
+		if (z == 0) {
+			pipetteCtrlModule.zMotorMoveToZeroPointQuickBlock();
+		} else {
+			pipetteCtrlModule.zMotorMoveToBlock(z);
+		}
+	}
 
-	//	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-	//	// 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 AppRet<Boolean> takeTip(Integer groupId, Integer index) throws AppException {
-	//		logger.info("takeTip groupId:{} index:{}", groupId, index);
-	//		if (groupId > 2 || groupId < 0) {
-	//			throw new AppException(A8kEcode.ParamOutOfRange);
-	//		}
-	//
-	//		if (index > TipPickUpPosInfo.cgetTipNum() || index < 0) {
-	//			throw new AppException(A8kEcode.ParamOutOfRange);
-	//		}
-	//
-	//		TipPickUpPosInfo tipPos = pp.getTipPickUpPosInfo();
-	//		Pos2d            pos    = tipPos.getTipPos(groupId, 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 (groupId > 1) {
-	//			zCompensate = 2;
-	//		}
-	//
-	//		pipetteCtrlModule.zMotorMoveToBlock(tipPos.getPickUpZPos(groupId) + zCompensate);
-	//		pipetteCtrlModule.zMotorMoveToZeroPointQuickBlock();
-	//
-	//		Boolean isGetTip = canBus.moduleGetReg(MId.PipetteMod, RegIndex.kreg_pipette_tip_state) == 1;
-	//		if (!isGetTip) {
-	//			logger.error("takeTip fail");
-	//		}
-	//		return AppRet.success(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.ParamOutOfRange);
-	//		}
-	//		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.ParamOutOfRange);
-	//		}
-	//		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 {
-	//		hbotCheckAndMoveTo(pp.getEmergencyPos());
-	//	}
+	private void hbotCheckAndMoveTo(Pos2d targetPos) throws AppException {
+		hbotMoveTo(new Pos3d(targetPos.x, targetPos.y, 0));
+	}
 
-	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-	// 坐标获取工具
-	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-	//
-	//	@ExtApiFn(name = "Hbot使能", group = "坐标获取工具")
-	//	public void hBotEnable() throws AppException {
-	//		canBus.hbotEnable(MId.HbotM, 1);
-	//	}
-	//
-	//	@ExtApiFn(name = "Hbot失能", group = "坐标获取工具")
-	//	public void hBotDisable() throws AppException {
-	//		canBus.hbotEnable(MId.HbotM, 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);
-	//	}
+	private void modGroupMoveToZero() throws AppException {
+		if (!canBus.getIOState(IOId.PlateBoxCoverClosurePPS)) {
+			throw new AppException(A8kEcode.PlateBoxNotCover);
+		}
+
+		pipetteCtrlModule.zMotorEnable(1);
+		canBus.hbotEnable(MId.HbotM, 1);
+
+		canBus.hbotMoveToZeroBlock(MId.HbotM, 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));
+	}
 
-	//	@ExtApiFn(name = "归零读取Z轴坐标", group = "坐标获取工具")
-	//	public AppRet<Integer> readZAxisPosByMoveToZero() throws HardwareException {
-	//		return AppRet.success(canBus.stepMotorReadPosByMoveToZeroBlock(MId.PipetteModZM, timep.getActionOvertime()));
-	//	}
-	//
-	//	@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移动到并扫码
+	// 单步测试
 	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
-	//	private AppRet<String> hBotMoveToAndScan(Pos2d pos) throws AppException {
-	//		hbotCheckAndMoveTo(pos);
-	//		canBus.codeScanerStartScan(MId.PipetteModCodeScanner);
-	//		String result = canBus.codeScanerWaittingForResult(MId.PipetteModCodeScanner, timep.getScancodeOvertime());
-	//		return AppRet.success(result);
-	//	}
-	//
-	//	// 扫描板夹仓二维码
-	//	@ExtApiFn(name = "扫描板夹仓二维码", group = "扫码")
-	//	public AppRet<String> scanPlatesCode(ConsumableGroup ch) throws AppException {
-	//		var posInfo = pp.getPlates2dCodeScanPosInfo();
-	//		return hBotMoveToAndScan(posInfo.cgetScanPos(ch.off));
-	//	}
-	//
-//		// 扫描缓冲液二维码
-//		@ExtApiFn(name = "扫描缓冲液区二维码", group = "扫码")
-//		public AppRet<String> scanBottleBuffersCode(ConsumableGroup group) throws AppException {
-//			BottleGroupsPosInfo posInfo = pp.getBottleBufferPosInfo();
-//			return hBotMoveToAndScan(posInfo.cgetScanPos(group.ordinal()));
-//		}
-	//
-	//	// 扫描大缓冲液二维码
-	//	@ExtApiFn(name = "扫描大缓冲液二维码", group = "扫码")
-	//	public AppRet<String> scanBigBottleBufferCode(ConsumableGroup group)
-	//			throws AppException {
-	//		LargeBottleBufferPos posInfo = pp.getLargeBottleBufferPosInfo();
-	//		return hBotMoveToAndScan(posInfo.cgetScanPos(group.off));
-	//	}
+	@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(Integer groupId, Integer index) throws AppException {
+		logger.info("takeTip groupId:{} index:{}", groupId, index);
+		if (groupId > 2 || groupId < 0) {
+			throw new AppException(A8kEcode.ParamOutOfRange);
+		}
+
+		if (index > TipPickUpPosInfo.cgetTipNum() || index < 0) {
+			throw new AppException(A8kEcode.ParamOutOfRange);
+		}
+
+		TipPickUpPosInfo tipPos = pp.getTipPickUpPosInfo();
+		Pos2d            pos    = tipPos.getTipPos(groupId, 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 (groupId > 1) {
+			zCompensate = 2;
+		}
+
+		pipetteCtrlModule.zMotorMoveToBlock(tipPos.getPickUpZPos(groupId) + 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.ParamOutOfRange);
+		}
+		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.ParamOutOfRange);
+		}
+		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 {
+		canBus.hbotEnable(MId.HbotM, 1);
+	}
+
+	@ExtApiFn(name = "Hbot失能", group = "坐标获取工具")
+	public void hBotDisable() throws AppException {
+		canBus.hbotEnable(MId.HbotM, 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

src/main/java/a8k/service/devicedriver/ctrl/SamplesPreProcesCtrl.java

@@ -153,15 +153,15 @@ public class SamplesPreProcesCtrl {
 		canBus.miniServoMoveToBlock(MId.ShakeModGripperYSV, pp.getGripperTakeTubeYPos(), timep.getActionOvertime());
 		//打开夹爪
 		canBus.miniServoMoveToBlock(MId.ShakeModGripperSV, pp.getGripperOpenPos(), timep.getActionOvertime());
-		//		//Z轴下移动到试管帽有无检测位
-		//		canBus.stepMotorEasyMoveToBlock(MId.ShakeModGripperZM, gripperJudgeCapZPos, timep.getActionOvertime());
-		//闭合夹爪检测试管帽是否存在
-		//		canBus.miniServoRotateWithTorque(MId.ShakeModGripperSV, -400);
-		//		Thread.sleep(timep.getTubeCapJudgeDelayTime());
-		//		if (ZEQ.IntEq(canBus.miniServoReadPos(MId.ShakeModGripperSV), pp.getGripperClosePos(), 30)) {
-		//			logger.info("试管帽不存在");
-		//			tubeCapExist = false;
-		//		}
+//				//Z轴下移动到试管帽有无检测位
+//				canBus.stepMotorEasyMoveToBlock(MId.ShakeModGripperZM, gripperJudgeCapZPos, timep.getActionOvertime());
+//		闭合夹爪检测试管帽是否存在
+//				canBus.miniServoRotateWithTorque(MId.ShakeModGripperSV, -400);
+//				Thread.sleep(timep.getTubeCapJudgeDelayTime());
+//				if (ZEQ.IntEq(canBus.miniServoReadPos(MId.ShakeModGripperSV), pp.getGripperClosePos(), 30)) {
+//					logger.info("试管帽不存在");
+//					tubeCapExist = false;
+//				}
 		if (dp.getDebugMode() || tubeCapExist) {
 			//打开夹爪
 			canBus.miniServoMoveToBlock(MId.ShakeModGripperSV, pp.getGripperOpenPos(), timep.getActionOvertime());

src/main/java/a8k/type/ConsumableGroup.java

@@ -9,4 +9,10 @@ public enum ConsumableGroup {
 		this.off = this.ordinal();
 	}
 
+	public static ConsumableGroup fromInt(int i) {
+		if (i < 0 || i >= ConsumableGroup.values().length) {
+			return null;
+		}
+		return ConsumableGroup.values()[i];
+	}
 }

src/main/java/a8k/type/ecode/AppCodeError.java

@@ -0,0 +1,12 @@
+package a8k.type.ecode;
+
+import a8k.hardware.type.a8kcanprotocol.A8kEcode;
+
+public class AppCodeError extends AppError {
+	public String exmsg;
+
+	public AppCodeError(String exmsg) {
+		super(A8kEcode.CodeError);
+		this.exmsg = exmsg;
+	}
+}

src/main/java/a8k/utils/ZFnCall.java

@@ -0,0 +1,22 @@
+package a8k.utils;
+
+
+import a8k.type.ecode.AppError;
+import a8k.type.exception.AppException;
+
+public class ZFnCall {
+
+	@FunctionalInterface
+	public interface Fn {
+		void call() throws AppException;
+	}
+
+	public static AppError callfn(Fn fn) {
+		try {
+			fn.call();
+		} catch (AppException e) {
+			return e.error;
+		}
+		return null;
+	}
+}