update

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

@@ -95,6 +95,11 @@ public class SamplesPreProcesCtrl {
 		canBus.stepMotorEnable(MId.ShakeModShakeM, 0);
 	}
 
+	@EnginnerPageAction(name = "夹紧试管", group = "辅助调试", order = ORDER.moduleDisable)
+	public void clampTube() throws HardwareException, InterruptedException {
+		canBus.stepMotorEasyMoveToBlock(MId.ShakeModClampingM, pp.getShakeClampingPos(), timep.getActionOvertime());
+	}
+
 
 	void tryClampTube() throws HardwareException, InterruptedException {
 		canBus.miniServoMoveToBlock(MId.ShakeModGripperSV, pp.getGripperTakeCapPos() - 20, timep.getActionOvertime());
@@ -212,7 +217,8 @@ public class SamplesPreProcesCtrl {
 		canBus.miniServoMoveToBlock(MId.ShakeModGripperSV, pp.getGripperTakeCapPos(), timep.getActionOvertime());
 		//Z上移动到零位
 		canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.ShakeModGripperZM, timep.getActionOvertime());
-//		tryClampTube();
+		//		tryClampTube();
+		//		canBus.miniServoMoveToBlock(MId.ShakeModGripperSV, pp.getGripperTakeCapPos()-30, timep.getActionOvertime());
 
 
 		//Y移动到待机位
@@ -227,7 +233,7 @@ public class SamplesPreProcesCtrl {
 		//移动Y轴到取试管帽位置
 		canBus.miniServoMoveToBlock(MId.ShakeModGripperYSV, pp.getGripperShakeYPos(), timep.getActionOvertime());
 		//移动Z轴盖帽
-		canBus.stepMotorEasyMoveToBlock(MId.ShakeModGripperZM, pp.getGripperTakeCapZPos() + 10, timep.getActionOvertime());
+		canBus.stepMotorEasyMoveToBlock(MId.ShakeModGripperZM, pp.getGripperTakeCapZPos() + 20, timep.getActionOvertime());
 		//打开试管夹
 		canBus.stepMotorEasyMoveToBlock(MId.ShakeModClampingM, 70, timep.getActionOvertime());
 		//移动Z轴到零位

src/main/java/a8k/service/devicectrl/testscript/TestScript.java

@@ -8,6 +8,8 @@ import a8k.appbase.cfg.BottleGroupsPosInfo;
 import a8k.appbase.cfg.BottlesPosInfo;
 import a8k.appbase.cfg.TipPickUpPosInfo;
 import a8k.controler.engineer.utils.*;
+import a8k.service.devicectrl.ctrl.SamplesPreProcesCtrl;
+import a8k.service.devicectrl.ctrl.TubeRackMoveCtrl;
 import a8k.service.hardware.canbus.A8kCanBusService;
 import a8k.service.hardware.canbus.protocol.A8kEcode;
 import a8k.service.hardware.canbus.protocol.MId;
@@ -50,6 +52,13 @@ public class TestScript {
 
 	@Resource
 	ReactionPlatesTransmitCtrl reactionPlatesTransmitCtrl;
+
+	@Resource
+	SamplesPreProcesCtrl samplesPreProcesCtrl;
+
+	@Resource
+	TubeRackMoveCtrl tubeRackMoveCtrl;
+
 	EnginnerParamReader settingReader = new EnginnerParamReader(HbotControlService.class);
 
 	//	+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
@@ -57,6 +66,13 @@ public class TestScript {
 	//	+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 	Boolean testScriptWorkFlag = false;
 
+	void checkTestScriptWorkFlag() throws HardwareException {
+		if (testScriptWorkFlag) {
+			testScriptWorkFlag = false;
+			throw new HardwareException(A8kEcode.TestScripIsRunning);
+		}
+	}
+
 	@EnginnerPageAction(name = "停止测试脚本", group = "控制")
 	public void testTakeAllTipStop() {
 		testScriptWorkFlag = false;
@@ -64,6 +80,8 @@ public class TestScript {
 
 	@EnginnerPageAction(name = "取放Tip-单步", group = "Hbot测试脚本")
 	public AppRet<Boolean> takeTipTestStep(Integer tipgroup, Integer index) throws HardwareException, InterruptedException {
+		checkTestScriptWorkFlag();
+		testScriptWorkFlag = true;
 		var              ret    = hbotcs.takeTip(tipgroup, index);
 		TipPickUpPosInfo tipPos = pp.getTipPickUpPosInfo();
 
@@ -75,13 +93,13 @@ public class TestScript {
 		}
 
 		canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.PipetteModZM, timep.getActionOvertime());
+		testScriptWorkFlag = false;
 		return ret;
 	}
 
 	@EnginnerPageAction(name = "取放Tip-全部", group = "Hbot测试脚本")
 	public AppRet<Map<String, String>> testTakeAllTip(Integer groupId, Integer startFrom) throws HardwareException, InterruptedException {
-		//		ObjectMapper mapper = new ObjectMapper();
-
+		checkTestScriptWorkFlag();
 
 		testScriptWorkFlag = true;
 		Map<String, String> result = new HashMap<>();
@@ -103,6 +121,8 @@ public class TestScript {
 
 	@EnginnerPageAction(name = "测试所有小瓶缓冲液位置", group = "Hbot测试脚本")
 	public void testAllLittleBottleBufferPos(ConsumableGroup group) throws HardwareException, InterruptedException {
+		checkTestScriptWorkFlag();
+
 		testScriptWorkFlag = true;
 		BottleGroupsPosInfo posInfo = pp.getBottleBufferPosInfo();
 		for (int i = 0; i < BottlesPosInfo.cgetMAX(); i++) {
@@ -119,6 +139,8 @@ public class TestScript {
 
 	@EnginnerPageAction(name = "测试所有探测物质位置", group = "Hbot测试脚本")
 	public void testAllDetectMaterialPos(ConsumableGroup group) throws HardwareException, InterruptedException {
+		checkTestScriptWorkFlag();
+
 		testScriptWorkFlag = true;
 		for (int i = 0; i < BottlesPosInfo.cgetMAX(); i++) {
 			BottleGroupsPosInfo pos = pp.getBottleBufferPosInfo();
@@ -134,6 +156,8 @@ public class TestScript {
 
 	@EnginnerPageAction(name = "测试所有大瓶缓冲液位置", group = "Hbot测试脚本")
 	public void testAllBigBottleBufferPos() throws HardwareException, InterruptedException {
+		checkTestScriptWorkFlag();
+
 		testScriptWorkFlag = true;
 		//		遍历枚举 ConsumableGroup
 		for (ConsumableGroup group : ConsumableGroup.values()) {
@@ -149,6 +173,7 @@ public class TestScript {
 
 	@EnginnerPageAction(name = "推全部板同时丢弃", group = "板夹移动测试脚本")
 	public void pushAllPlateAndDrop(ConsumableGroup PBCh, IncubatorPos startPos) throws HardwareException, InterruptedException {
+		checkTestScriptWorkFlag();
 		testScriptWorkFlag = true;
 		reactionPlatesTransmitCtrl.checkBeforeMoveTrunable();
 		reactionPlatesTransmitCtrl.checkBeforeMovePlateBox();
@@ -161,11 +186,50 @@ public class TestScript {
 			reactionPlatesTransmitCtrl.pushPlateQuick(PBCh, index);
 			reactionPlatesTransmitCtrl.pullPlate(index);
 			reactionPlatesTransmitCtrl.dropPlate();
-			if (testScriptWorkFlag) {
+			if (!testScriptWorkFlag) {
 				break;
 			}
 		}
 		testScriptWorkFlag = false;
 	}
 
+	@EnginnerPageAction(name = "测试摇匀模组", group = "摇匀模组测试")
+	public AppRet<Object> testSamplePreProcessModule() throws HardwareException, InterruptedException {
+		checkTestScriptWorkFlag();
+		testScriptWorkFlag = true;
+
+		try {
+			tubeRackMoveCtrl.enterTubeHolder();
+			AppRet<String> scanResult = tubeRackMoveCtrl.moveTubeRackToScanPosAndScan();
+			if (!scanResult.isSuccess()) {
+				tubeRackMoveCtrl.ejectTubeHolder();
+				return AppRet.message("没有扫到试管架的码", null);
+			}
+			if (scanResult.getData().equals("1111\r")) {
+				tubeRackMoveCtrl.ejectTubeHolder();
+				return AppRet.message("不是全血试管架", null);
+			}
+
+			AppRet<Boolean> isExistTube = tubeRackMoveCtrl.judgeTubeExist(0);
+			AppRet<Boolean> isHighTube  = tubeRackMoveCtrl.moveTubeToAltitJudgXPos(0);
+
+			if (!isExistTube.getData()) {
+				tubeRackMoveCtrl.ejectTubeHolder();
+				return AppRet.message("试管架上没有试管", null);
+			}
+
+
+			samplesPreProcesCtrl.takeTubeAndJudgeTubeExist(isHighTube.getData());
+			samplesPreProcesCtrl.shakeTube(50, 5);
+			samplesPreProcesCtrl.takeTubeCap();
+			samplesPreProcesCtrl.pushBackTubeCapAndTakeBakTube();
+			tubeRackMoveCtrl.ejectTubeHolder();
+		} finally {
+			testScriptWorkFlag = false;
+		}
+
+		return AppRet.message("测试完成", null);
+
+	}
+
 }

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

@@ -68,6 +68,9 @@ public class A8kModParamInitializer implements AppEventListener {
 		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.ShakeModGripperYSV, RegIndex.kreg_mini_servo_limit_torque, 700);
+
+
 		//
 		canBus.moduleSetReg(MId.OptModPullM, RegIndex.kreg_step_motor_run_to_zero_speed, 500);
 		canBus.moduleSetReg(MId.OptModPullM, RegIndex.kreg_step_motor_default_velocity, 2200);

src/main/java/a8k/service/hardware/canbus/protocol/A8kEcode.java

@@ -35,6 +35,8 @@ public enum A8kEcode {
 	ScanTimeout(30, "扫码超时"),//
 	InfeedOvertimeFail(31, "入料超时"),//
 	OutfeedOvertimeFail(32, "出料超时"),//
+	TestScripIsRunning(33, "测试脚本正在运行"),//
+
 
 	PasswdError(100, "密码错误"), //
 	UsrNotExitError(101, "用户不存在"), //