update

README2.md

@@ -125,5 +125,7 @@ TODO:
 1. tip丢弃失败的问题
 2. 舵机死机的问题
 3. hbot收不到消息的BUG
+4. 增加吸吐混匀速度
+5. 修改处理流程的代码
 
 ```

src/main/java/a8k/extapi_controler/pagecontrol/ExtApiTabConfig.java

@@ -23,7 +23,10 @@ public enum ExtApiTabConfig {
 	TemperatureCtrlParamCalibration("校准.温度控制参数校准", true),
 
 
-	A8kPipetteCtrlModule("硬件驱动.移液枪测试", false),
+	PipetteGunTest("测试.PipetteGun",true),
+
+
+	A8kPipetteCtrlModule("硬件驱动.移液枪测试", true),
 	StepMotorCtrlDriver("硬件驱动.步进电机测试", false),
 
 	ActionReactorService("底层调试.单步调试", false),//OK

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

@@ -113,9 +113,7 @@ public class A8kModParamInitializer {
 
 
 		pipetteCtrlDriver.setReg(PipetteRegIndex.kreg_pipette_zm_default_velocity, 1500);
-		
-
-
+		pipetteCtrlDriver.setReg(PipetteRegIndex.kreg_pipette_lld_motor_vel_rpm, 100);//80的时候，刚好和液面齐平
 
 	}
 

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

@@ -144,6 +144,7 @@ public enum CmdId {
 	pipette_set_lld_p_threshold(0x7421, "移动枪设置液面探测压力阈值"),
 	kpipette_set_llf_startz(0x7422, "移动枪设置液面跟随开始限制高度"),
 	kpipette_set_llf_endz(0x7423, "移动枪设置液面跟随结束限制高度"),
+	kpipette_clear_hanging_liquid(0x7424, "移动枪清除悬液"),
 	;
 
 

src/main/java/a8k/optalgo/A8kOptAlgoV2.java

@@ -88,7 +88,7 @@ public class A8kOptAlgoV2 {
 
 	static void findpeak(double[] data, int search_start, int search_end, A8kOptPeak retpeak) {
 		// find peak
-		log.info("find peak in [{} {}]", search_start, search_end);
+//		log.info("find peak in [{} {}]", search_start, search_end);
 		retpeak.state        = PeakFindState.NOT_FIND_PEAK;
 		retpeak.area         = 0.0;
 		retpeak.peakPos      = 0;

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

@@ -116,7 +116,7 @@ public class AppMainFlowCtrlService {
 	}
 
 	void postPorcessA8kEcode(DeviceWorkState state, List<A8kErrorContext> ecodeList) {
-
+		logger.info("处理错误 {}", ecodeList);
 		boolean        hasErrorUnHandle          = false;
 		List<A8kEcode> noHumanInterventionErrors = new ArrayList<>(); //无需人工干预的错误
 		noHumanInterventionErrors.add(A8kEcode.APPE_TAKE_TIP_FAIL);
@@ -134,7 +134,7 @@ public class AppMainFlowCtrlService {
 			state.errorFlag = true;
 			state.ecodeList = ecodeList;
 			state.workState = A8kWorkState.PAUSE;
-		}else{
+		} else {
 			state.errorFlag = false;
 			state.ecodeList = ecodeList;
 		}

src/main/java/a8k/service/app/appctrl/mainflowctrl/MainFlowCtrlScheduler.java

@@ -129,7 +129,7 @@ public class MainFlowCtrlScheduler {
 		} catch (MutiAppException mutiAppe) {
 			List<AppException> appExceptions = mutiAppe.bindExceptions;
 			for (AppException appe : appExceptions) {
-				appe.print();
+				logger.error("error {}", appe.getMessage(), appe);
 			}
 			if (appExceptions.size() > 1) {
 				logger.warn("发生多个错误，只报告第一个错误");
@@ -137,7 +137,7 @@ public class MainFlowCtrlScheduler {
 			return new A8kErrorContext(key.step, appExceptions.get(0).error);
 
 		} catch (AppException appe) {
-			appe.print();
+			logger.error("error {}", appe.getMessage(), appe);
 			return new A8kErrorContext(key.step, appe.error);
 		} catch (Exception exception) {
 			logger.error("error {}", exception.getMessage(), exception);

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

@@ -9,6 +9,8 @@ import a8k.service.app.appstate.type.state.A8kWorkState;
 import a8k.type.exception.AppException;
 import jakarta.annotation.PostConstruct;
 import jakarta.annotation.Resource;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
 import org.springframework.stereotype.Component;
 
 import java.util.List;
@@ -24,6 +26,8 @@ import java.util.List;
 @Component
 public class DO_CLEAR_ERROR_BEFORE_WORK extends A8kStepAction {
 
+	private static final Logger log = LoggerFactory.getLogger(DO_CLEAR_ERROR_BEFORE_WORK.class);
+
 	DO_CLEAR_ERROR_BEFORE_WORK() {
 		super(A8kActionStepType.DO_CLEAR_ERROR_BEFORE_WORK);
 	}
@@ -42,6 +46,7 @@ public class DO_CLEAR_ERROR_BEFORE_WORK extends A8kStepAction {
 	@Override public void doaction() throws AppException {
 		mfcs.errorFlag = false;
 		mfcs.ecodeList.clear();
+		log.info("运行前清除错误");
 	}
 
 	@Override public Boolean checkCondition() {

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

@@ -83,6 +83,7 @@ public class DO_STOP extends A8kStepAction {
 	@Override public void doaction() throws AppException {
 		mfcs.workStateChangeFlag = false;
 		//清空设备
+
 		doClearDevice();
 		//清空所有反应状态
 		projectProcessContextMgrService.finishedAll();

src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ7_EJECT_TUBEHOLDER.java

@@ -59,6 +59,7 @@ public class SEQ7_EJECT_TUBEHOLDER extends A8kStepAction {
 		}
 
 		gstate.getTubeHolder().setState(TubeHolderState.IDLE);
+		gstate.setCurProcessingTube(null);
 	}
 
 	@Override public Boolean checkCondition() {

src/main/java/a8k/service/app/appstate/ConsumablesMgrService.java

@@ -70,11 +70,12 @@ public class ConsumablesMgrService {
 	synchronized ConsumableGroup priGetConsumableGroupByProjIndex(Integer projId) {
 		var cState = gstate.getConsumableState();
 		for (int i = 0; i < cState.reactionPlateGroup.length; i++) {
-			if (cState.reactionPlateGroup[i].projId.equals(projId)) {
 			if (cState.reactionPlateGroup[i].num > 0) {
+				if (cState.reactionPlateGroup[i].projId.equals(projId)) {
 					return ConsumableGroup.fromInt(i);
 				}
 			}
+
 		}
 		return null;
 	}

src/main/java/a8k/service/app/appstate/GStateService.java

@@ -20,27 +20,27 @@ public class GStateService {
 	public static final Logger logger = LoggerFactory.getLogger(GStateService.class);
 
 	//温度
-	Integer                 temperature        = 25;
+	private Integer                 temperature        = 25;
 	//设备是否初始化过
-	Boolean                 deviceInited       = false;
+	private Boolean                 deviceInited       = false;
 	//当前正在被处理的试管架状态
-	TubeHolder              tubeHolder         = new TubeHolder();
+	private TubeHolder              tubeHolder         = new TubeHolder();
 	//急诊为状态
-	EmergencyTubePos        emergencyTubePos   = new EmergencyTubePos();
+	private EmergencyTubePos        emergencyTubePos   = new EmergencyTubePos();
 	//孵育盘状态
-	IncubationPlate         incubationPlate    = new IncubationPlate();
+	private IncubationPlate         incubationPlate    = new IncubationPlate();
 	//耗材状态
-	ConsumableState         consumableState    = new ConsumableState();
+	private ConsumableState         consumableState    = new ConsumableState();
 	//光学模组状态
-	OptScanModule           optScanModule      = new OptScanModule();
+	private OptScanModule           optScanModule      = new OptScanModule();
 	//试管配置
-	List<TubeHolderSetting> tubeHolderSettings = new ArrayList<>();
+	private List<TubeHolderSetting> tubeHolderSettings = new ArrayList<>();
 	//当前正在处理的试管
-	Tube                    curProcessingTube  = null;
+	private Tube                    curProcessingTube  = null;
 	//
-	String                  appVersion         = AppConstant.APP_VERSION;
-	String                  mcuVersion         = "NOTSET";
-	String                  sn                 = "NOTSET";
+	private String                  appVersion         = AppConstant.APP_VERSION;
+	private String                  mcuVersion         = "NOTSET";
+	private String                  sn                 = "NOTSET";
 
 	SensorState sensorState = new SensorState();
 

src/main/java/a8k/service/app/appstate/ProjectProcessContextMgrService.java

@@ -189,6 +189,8 @@ public class ProjectProcessContextMgrService {
 			logger.info("  试管ID:{}", tube.getSampleId());
 		}
 		gstate.setTubeHolder(tubeholder);
+		gstate.setCurProcessingTube(null);
+		
 	}
 
 	synchronized public void newEmergencyTube(Tube tube) {
@@ -222,7 +224,7 @@ public class ProjectProcessContextMgrService {
 		 * 挂起试管
 		 * @param nextProcessTube 下一个处理的试管
 		 */
-		gstate.curProcessingTube = tube;
+		gstate.setCurProcessingTube(tube);
 		gstate.getCurProcessingTube().setState(TubeState.PENDING);
 		setProjProcessState(tube, ProjProcessState.PENDING);
 	}

src/main/java/a8k/service/app/devicectrl/ctrlservice/DeviceInitCtrlService.java

@@ -101,6 +101,8 @@ public class DeviceInitCtrlService {
 		for (CheckResult result : results) {
 			if (!result.pass) {
 				log.info("设备初始化失败: check {} fail", result.typechinfo);
+				stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModClampingM, 1);
+				stepMotorCtrlDriver.stepMotorEasyMoveByBlock(StepMotorMId.ShakeModClampingM, 10, 3000);
 				motorEnableExDriver.forceDisableAllMotor();
 				return results;
 			}
@@ -143,7 +145,6 @@ public class DeviceInitCtrlService {
 		//hbot快速归零
 		hbotCtrlService.moveQuickToZero();
 
-		pipetteCtrlDriver.lldPrepareBlock();
 
 
 		return results;

src/main/java/a8k/service/app/devicectrl/driver/PipetteCtrlDriver.java

@@ -245,8 +245,8 @@ public class PipetteCtrlDriver {
 
 	@ExtApiFn(name = "吸液准备", order = FnOrder.aspiratePrepareBlock)
 	public void aspiratePrepareBlock() throws AppException {
-		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_aspirate_prepare.toInt());
-		canBusService.waitForMod(MId.PipetteMod, overtime);
+		//		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_aspirate_prepare.toInt());
+		//		canBusService.waitForMod(MId.PipetteMod, overtime);
 	}
 
 	@ExtApiFn(name = "设置LLF速度", order = FnOrder.aspirateSetLlfVelocity)
@@ -302,6 +302,12 @@ public class PipetteCtrlDriver {
 		canBusService.waitForMod(MId.PipetteMod, overtime + times * 3000);
 	}
 
+	@ExtApiFn(name = "清除悬液", order = FnOrder.shakeUpBlock)
+	public void clearHangingLiquid(Integer repeatTimes) throws AppException {
+		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.kpipette_clear_hanging_liquid.toInt(), repeatTimes);
+		canBusService.waitForMod(MId.PipetteMod, overtime);
+	}
+
 	@ExtApiFn(name = "吸液推算压力", order = FnOrder.aspirateInferPressureBlock)
 	public void aspirateInferPressureBlock(Integer ul) throws AppException {
 		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_aspirate_infer_pressure.toInt(), ul);

src/main/java/a8k/service/app/devicectrl/param/LowerDeviceParamMgr.java

@@ -21,120 +21,19 @@ public class LowerDeviceParamMgr {
 		Assert.isTrue(var != null && var.val != null && !var.val.isEmpty(), String.format("CHECK %s.%s val fail", service, key));
 	}
 
-	@ExtApiFn(name = "恢复参数", group = "基础", order = 1)
+	@ExtApiFn(name = "!!!!!恢复参数!!!!!", group = "基础", order = 1)
 	public void recoveryParam() {
 		ldpdb.recoveryAllParam();
 	}
 
-	@ExtApiFn(name = "存储参数", group = "基础", order = 1)
+	@ExtApiFn(name = "!!!!!存储参数!!!!!", group = "基础", order = 2)
 	public void storageParam() {
 		ldpdb.storageAll();
 	}
 
-	@ExtApiFn(name = "检查参数是否全部设置", group = "基础", order = 1)
+	@ExtApiFn(name = "检查参数是否全部设置", group = "基础", order = 3)
 	public void checkParams() {
-		check("Hbot2DCodeScanParamMgr", "PBScanPos0");
-		check("Hbot2DCodeScanParamMgr", "PBScanPos1");
-		check("Hbot2DCodeScanParamMgr", "PBScanPos2");
-		check("Hbot2DCodeScanParamMgr", "PBScanPos3");
-		check("Hbot2DCodeScanParamMgr", "PBScanPos4");
-		check("Hbot2DCodeScanParamMgr", "PBScanPos5");
-		check("Hbot2DCodeScanParamMgr", "LittBS0");
-		check("Hbot2DCodeScanParamMgr", "LittBS1");
-		check("Hbot2DCodeScanParamMgr", "LittBS2");
-		check("Hbot2DCodeScanParamMgr", "LittBS3");
-		check("Hbot2DCodeScanParamMgr", "LittBS4");
-		check("Hbot2DCodeScanParamMgr", "LittBS5");
-		check("Hbot2DCodeScanParamMgr", "LarBS0");
-		check("Hbot2DCodeScanParamMgr", "LarBS1");
-		check("Hbot2DCodeScanParamMgr", "LarBS2");
-		check("Hbot2DCodeScanParamMgr", "LarBS3");
-		check("Hbot2DCodeScanParamMgr", "LarBS4");
-		check("Hbot2DCodeScanParamMgr", "LarBS5");
-		check("TurntablePosParamMgr", "PushPos0");
-		check("TurntablePosParamMgr", "PullPos0");
-		check("TurntablePosParamMgr", "DropLiquidPos0");
-		check("TurntablePosParamMgr", "PosSpacing");
-		check("TubeFeedingModuleParamMgr", "TubeHolderEnterXPos");
-		check("TubeFeedingModuleParamMgr", "TubeHolderExitXPos");
-		check("TubeFeedingModuleParamMgr", "TubeHolderScanXPos");
-		check("TubeFeedingModuleParamMgr", "Tube0ScanPos");
-		check("TubeFeedingModuleParamMgr", "Tube0AltitJudgPos");
-		check("TubeFeedingModuleParamMgr", "Tube0ExistJudgPos");
-		check("TubeFeedingModuleParamMgr", "Tube0PreProcessPos");
-		check("TubeFeedingModuleParamMgr", "TubeScanServoTorque");
-		check("TubeFeedingModuleParamMgr", "TubeSpacing");
-		check("HbotFixedPosParamMgr", "DropLiquidPos");
-		check("HbotSamplePosParamMgr", "EmergencyTubeSamplePos");
-		check("HbotSamplePosParamMgr", "EmergencyTubeSampleEndPos");
-		check("HbotSamplePosParamMgr", "BloodHTubeSamplePos");
-		check("HbotSamplePosParamMgr", "BloodHTubeSampleEndPos");
-		check("HbotSamplePosParamMgr", "BloodSTubeSamplePos");
-		check("HbotSamplePosParamMgr", "BloodSTubeSampleEndPos");
-		check("HbotSamplePosParamMgr", "MiniTubeSamplePos");
-		check("HbotSamplePosParamMgr", "MinitubeSampleEndPos");
-		check("HbotSamplePosParamMgr", "MiniBloodSamplePos");
-		check("HbotSamplePosParamMgr", "MiniBloodSampleEndPos");
-		check("HbotSamplePosParamMgr", "Bulltube1P5SamplePos");
-		check("HbotSamplePosParamMgr", "Bulltube1P5SampleEndPos");
-		check("HbotSamplePosParamMgr", "Bulltube0P5SamplePos");
-		check("HbotSamplePosParamMgr", "Bulltube0P5SampleEndPos");
-		check("HbotSamplePosParamMgr", "StoolTestTubeSamplePos");
-		check("HbotSamplePosParamMgr", "StoolTestTubeSampleEndPos");
-		check("HbotLittleBSPosMgr", "LittleBufferGroup0_000Pos");
-		check("HbotLittleBSPosMgr", "LittleBufferGroup1_000Pos");
-		check("HbotLittleBSPosMgr", "LittleBufferGroup2_000Pos");
-		check("HbotLittleBSPosMgr", "LittleBufferGroup3_000Pos");
-		check("HbotLittleBSPosMgr", "LittleBufferGroup4_000Pos");
-		check("HbotLittleBSPosMgr", "LittleBufferGroup5_000Pos");
-		check("HbotLittleBSPosMgr", "LittleBufferGroupDX");
-		check("HbotLittleBSPosMgr", "LittleBufferGroupDY");
-		check("HbotLittleBSPosMgr", "LittleBSPierceZPos");
-		check("HbotLittleBSPosMgr", "LittleBSSampleZPos");
-		check("HbotLittleBSPosMgr", "LittleBSSampleEndZPos");
-		check("HbotLargeBottleBSPosMgr", "LargeBuffer_0Pos");
-		check("HbotLargeBottleBSPosMgr", "LargeBuffer_DX");
-		check("HbotLargeBottleBSPosMgr", "LargeBuffer_DY");
-		check("HbotLargeBottleBSPosMgr", "LargeBSSSampleZPos");
-		check("HbotLargeBottleBSPosMgr", "LargeBSSSampleEndZPos");
-		check("HbotTipPosMgr", "TipGroup0_000Pos");
-		check("HbotTipPosMgr", "TipGroup0_SpaceingX");
-		check("HbotTipPosMgr", "TipGroup0_SpaceingY");
-		check("HbotTipPosMgr", "TipGroup1_000Pos");
-		check("HbotTipPosMgr", "TipGroup1_SpaceingX");
-		check("HbotTipPosMgr", "TipGroup1_SpaceingY");
-		check("HbotTipPosMgr", "TipGroup2_000Pos");
-		check("HbotTipPosMgr", "TipGroup2_SpaceingX");
-		check("HbotTipPosMgr", "TipGroup2_SpaceingY");
-		check("HbotTipPosMgr", "DropTipPos");
-		check("HbotProbeSubstancePosMgr", "ProbeSubstanceGroup0_000Pos");
-		check("HbotProbeSubstancePosMgr", "ProbeSubstanceGroup1_000Pos");
-		check("HbotProbeSubstancePosMgr", "ProbeSubstanceGroup2_000Pos");
-		check("HbotProbeSubstancePosMgr", "ProbeSubstanceGroup3_000Pos");
-		check("HbotProbeSubstancePosMgr", "ProbeSubstanceGroup4_000Pos");
-		check("HbotProbeSubstancePosMgr", "ProbeSubstanceGroup5_000Pos");
-		check("HbotProbeSubstancePosMgr", "ProbeSubstanceDX");
-		check("HbotProbeSubstancePosMgr", "ProbeSubstanceDY");
-		check("HbotProbeSubstancePosMgr", "ProbeSubstanceSampleZPos");
-		check("HbotProbeSubstancePosMgr", "ProbeSubstanceSampleEndZPos");
-		check("OptModuleParamsMgr", "PullerTargetPos");
-		check("OptModuleParamsMgr", "OptScanerDropPos");
-		check("OptModuleParamsMgr", "OptScanerScandbyPos");
-		check("OptModuleParamsMgr", "TOptScanStartPos");
-		check("OptModuleParamsMgr", "FOptScanStartPos");
-		check("PlatesBoxPosParamMgr", "Ch0YPos");
-		check("PlatesBoxPosParamMgr", "Ch5YPos");
-		check("PlatesBoxPosParamMgr", "PushEndXPos");
-		check("TubePreProcesPosParamMgr", "GripperServoOpenPos");
-		check("TubePreProcesPosParamMgr", "GripperServoClosePos");
-		check("TubePreProcesPosParamMgr", "GripperServoTakeCapPos");
-		check("TubePreProcesPosParamMgr", "ShakeClampMotorClampPos");
-		check("TubePreProcesPosParamMgr", "ShakeClampMotorReleasePos");
-		check("TubePreProcesPosParamMgr", "YServoTakeTubePos");
-		check("TubePreProcesPosParamMgr", "YServoShakePos");
-		check("TubePreProcesPosParamMgr", "ZMotorTakeHTubePos");
-		check("TubePreProcesPosParamMgr", "ZMotorTakeSTubePos");
-		check("TubePreProcesPosParamMgr", "ZMotorShakeTubePos");
+
 	}
 
 

src/main/java/a8k/service/app/devicectrl/script/DeviceCtrlScripter.java

@@ -75,6 +75,12 @@ public class DeviceCtrlScripter {
 		pipetteCtrlDriver.aspirateBlock(ul);
 	}
 
+	void distributeNoLLF(Integer ul) throws AppException {
+		pipetteCtrlDriver.aspirateSetLlfVelocity(0);
+		pipetteCtrlDriver.aspirateBlock(-ul);
+	}
+
+
 	void distribute(PipetteGunBindActionType actionType, ProjProcessContext ctx, Integer ul) throws AppException {
 		LLFParamPack llfParamPack = pipetteGunParamExMgr.getLLFParam(actionType, ctx);
 		pipetteCtrlDriver.aspirateSetLlfVelocity(llfParamPack.llfVel);
@@ -94,6 +100,8 @@ public class DeviceCtrlScripter {
 
 	void aspirate(PipetteGunBindActionType actionType, ProjProcessContext ctx, Integer ul) throws AppException {
 		LLFParamPack llfParamPack = pipetteGunParamExMgr.getLLFParam(actionType, ctx);
+		log.info("吸液 {} , llfvel {} , llfStartPos {} , llfEndPos {}", ul, llfParamPack.llfVel, llfParamPack.llfStartPos, llfParamPack.llfEndPos);
+
 		pipetteCtrlDriver.aspirateSetLlfVelocity(llfParamPack.llfVel);
 		pipetteCtrlDriver.setLlfStartZ(llfParamPack.llfStartPos);
 		pipetteCtrlDriver.setLlfEndZ(llfParamPack.llfEndPos);
@@ -102,6 +110,8 @@ public class DeviceCtrlScripter {
 
 
 	void lld(PipetteGunBindActionType actionType, ProjProcessContext ctx) throws AppException {
+		pipetteCtrlDriver.lldPrepareBlock();
+
 		log.info("液面探测 {}", actionType);
 		LLDParamPack lldparm        = pipetteGunParamExMgr.getLLDParam(actionType, ctx);
 		Pos3d        sampleStartPos = null;
@@ -153,20 +163,23 @@ public class DeviceCtrlScripter {
 			hbotCtrlService.dropTip();
 			//待机
 			hbotCtrlService.moveQuickToZero();
-			pipetteCtrlDriver.lldPrepareBlock();
+
+			//提前.取tip,
+			hbotCtrlService.takeTip(ctx.takeTip());
 		} else if (type.equals(A8kReactionFlowType.FlowType2)) {
 			log.info("样本预处理,取大瓶缓冲液液到探测物质中");
 			/*
 			 *	取大瓶缓冲液液到探测物质中
 			 */
 			//ldd准备
-			pipetteCtrlDriver.lldPrepareBlock();
 
 			//取tip,
 			hbotCtrlService.takeTip(ctx.takeTip());
 
 			//移动到取样位置
-			hbotCtrlService.moveTo(hbotConsumableParamMgr.getLargeBufferSamplePos(ctx.consumable.getGroup()));
+			Pos3d pos = hbotConsumableParamMgr.getLargeBufferSamplePos(ctx.consumable.getGroup());
+			pos.z = 0;
+			hbotCtrlService.moveTo(pos);
 
 			//移动到目标位置,并液面探测
 			lld(PipetteGunBindActionType.TAKE_LARGE_BUFFER_SOLUTION, ctx);
@@ -182,14 +195,13 @@ public class DeviceCtrlScripter {
 			hbotCtrlService.moveTo(hbotConsumableParamMgr.getProbeSubstanceSamplePosEnd(ctx.consumable.getGroup(), ctx.consumable.getPos()));
 
 			//吐液
-			distribute(PipetteGunBindActionType.DISTRIBUTION_LARGE_BUFFER_SOLUTION_PROBE_SUBSTANCE, ctx, -takeul);
+			distribute(PipetteGunBindActionType.DISTRIBUTION_LARGE_BUFFER_SOLUTION_PROBE_SUBSTANCE, ctx, takeul);
 
 			//丢tip
 			hbotCtrlService.dropTip();
 
 			//归零,待机
 			hbotCtrlService.moveQuickToZero();
-			pipetteCtrlDriver.lldPrepareBlock();
 		} else {
 			Assert.isTrue(false, "不支持的反应流程类型");
 		}
@@ -199,16 +211,19 @@ public class DeviceCtrlScripter {
 		Integer sampleul   = ProjProcessContextUtils.getSampleVol(ctx);
 		Integer reactionul = ProjProcessContextUtils.getReactionPlateDropletVolUl(ctx);
 
-		//ldd准备
-		pipetteCtrlDriver.lldPrepareBlock();
-
-		//取tip,
+		A8kReactionFlowType type = ctx.projCfg.projectInfo.reactionFlowType;
+		if (type.equals(A8kReactionFlowType.FlowType1)) {
+			//			hbotCtrlService.takeTip(ctx.takeTip());
+		} else {
 			hbotCtrlService.takeTip(ctx.takeTip());
+		}
 
 		//移动到取样位置
 		A8kSamplePos samplePos = ProjProcessContextUtils.getSamplePos(ctx);
 		log.info("移动到 {}", samplePos);
-		hbotCtrlService.moveTo(hbotSamplePosParamMgr.getSampleStartPos(samplePos));
+		Pos3d pos = hbotSamplePosParamMgr.getSampleStartPos(samplePos);
+		pos.z = 0;
+		hbotCtrlService.moveTo(pos);
 
 		//ldd准备
 		lld(PipetteGunBindActionType.SAMPLE, ctx);
@@ -244,9 +259,12 @@ public class DeviceCtrlScripter {
 		//旋转转盘
 		turnableMoveCtrlService.trunableMoveToDropLiquidPos(ctx.incubatorPos);
 
-		//取样到反应板
+		//吐液到反应板
 		hbotCtrlService.moveTo(hbotFixedPosParamMgr.getDropLiquidPos());
-		aspirateNoLLF(reactionul);
+		distributeNoLLF(reactionul);
+		pipetteCtrlDriver.clearHangingLiquid(2);
+
+
 
 		//丢tip
 		hbotCtrlService.dropTip();

src/main/java/a8k/service/app/devicectrl/test/PipetteGunTest.java

@@ -0,0 +1,114 @@
+package a8k.service.app.devicectrl.test;
+
+import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
+import a8k.extapi_controler.utils.ExtApiFn;
+import a8k.extapi_controler.utils.ExtApiTab;
+import a8k.hardware.type.LldType;
+import a8k.service.app.devicectrl.driver.PipetteCtrlDriver;
+import a8k.service.app.devicectrl.exdriver.HbotBaseMoveExDriver;
+import a8k.service.app.devicectrl.exdriver.MotorEnableExDriver;
+import a8k.service.app.devicectrl.param.param_mgr.PipetteGunLLDParamMgr;
+import a8k.service.app.devicectrl.param.type.PipetteGunLLDThresholdParam;
+import a8k.service.app.devicectrl.param.type.PipetteGunLLDTypeParam;
+import a8k.type.exception.AppException;
+import jakarta.annotation.Resource;
+import org.springframework.stereotype.Component;
+
+@ExtApiTab(cfg = ExtApiTabConfig.PipetteGunTest)
+@Component
+public class PipetteGunTest {
+
+	@Resource
+	PipetteGunLLDParamMgr pipetteGunLLDParamMgr;
+
+	@Resource
+	PipetteCtrlDriver    pipetteCtrlDriver;
+	@Resource
+	HbotBaseMoveExDriver hbotBaseMoveExDriver;
+	@Resource
+	MotorEnableExDriver  motorEnableExDriver;
+
+
+	//	测试工具
+	//	@ExtApiFn(name = "归零", group = "基础", order = 1)
+	//	public void moveToZero() throws AppException {
+	//		enableModule();
+	//		pipetteCtrlDriver.zMotorMoveZeroBlock();
+	//	}
+
+	@ExtApiFn(name = "移液枪初始化(Tip会掉落)", group = "基础", order = 2)
+	public void pipetteInitDeviceBlock() throws AppException {
+		pipetteCtrlDriver.pipetteInitDeviceBlock();
+
+	}
+
+	@ExtApiFn(name = "使能相关模块", group = "基础", order = 3)
+	public void enableModule() throws AppException {
+		pipetteCtrlDriver.zMotorEnable(1);
+	}
+
+	@ExtApiFn(name = "失能相关模块", group = "基础", order = 4)
+	public void disableModule() throws AppException {
+		motorEnableExDriver.forceDisableAllMotor();
+	}
+
+	@ExtApiFn(name = "获取相关参数", group = "基础", order = 5)
+	public Object getParams() throws AppException {
+		return pipetteGunLLDParamMgr.getParams();
+	}
+
+
+	Integer lldStartPos;
+	Integer lldEndPos;
+
+	@ExtApiFn(name = "设置LLD开始位置", group = "测试", order = 100)
+	public void setStartTestPos() throws AppException {
+		pipetteCtrlDriver.zMotorEnable(1);
+		pipetteCtrlDriver.zMotorMeasureDistance();
+		lldStartPos = pipetteCtrlDriver.zMotorReadMeasureDistanceResult();
+		pipetteCtrlDriver.zMotorEnable(0);
+	}
+
+	@ExtApiFn(name = "设置LLD结束位置", group = "测试", order = 101)
+	public void setEndTestPos() throws AppException {
+		pipetteCtrlDriver.zMotorEnable(1);
+		pipetteCtrlDriver.zMotorMeasureDistance();
+		lldEndPos = pipetteCtrlDriver.zMotorReadMeasureDistanceResult();
+		pipetteCtrlDriver.zMotorEnable(0);
+	}
+
+	@ExtApiFn(name = "LLD准备(每次LLD前都要调用一次，同时更换tip头)", group = "测试", order = 102)
+	public void lldPrepare() throws AppException {
+		pipetteCtrlDriver.zMotorEnable(1);
+		pipetteCtrlDriver.zMotorMoveZeroBlock();
+		pipetteCtrlDriver.lldPrepareBlock();
+	}
+
+	@ExtApiFn(name = "LDD测量液体属性", group = "测试", order = 103)
+	public Object lldCalibrate() throws AppException {
+		if (lldStartPos > lldEndPos) {
+			throw AppException.of("开始位置大于结束位置");
+		}
+
+		pipetteCtrlDriver.zMotorEnable(1);
+		pipetteCtrlDriver.zMotorMoveZeroBlock();
+		pipetteCtrlDriver.setStartZ(lldStartPos);
+		pipetteCtrlDriver.setEndZ(lldEndPos);
+		pipetteCtrlDriver.lldCalibrationBlock();
+		return pipetteCtrlDriver.getSensorSampleData();
+	}
+
+	@ExtApiFn(name = "LLD测试", group = "测试", order = 104)
+	public void lldTest(LldType type, Integer c_val, Integer p_val) throws AppException {
+		pipetteCtrlDriver.zMotorEnable(1);
+		pipetteCtrlDriver.zMotorMoveZeroBlock();
+		pipetteCtrlDriver.setStartZ(lldStartPos);
+		pipetteCtrlDriver.setEndZ(lldEndPos);
+		pipetteCtrlDriver.setLldType(type);
+		pipetteCtrlDriver.setLldCThreshold(c_val);
+		pipetteCtrlDriver.setLldPThreshold(p_val);
+		pipetteCtrlDriver.lldBlock();
+	}
+
+
+}

src/main/java/a8k/service/test/MainflowCtrlTestService.java

@@ -7,22 +7,27 @@ import a8k.extapi_controler.utils.ExtApiTab;
 import a8k.service.app.appctrl.AppConsumablesScanService;
 import a8k.service.app.appctrl.AppDeviceCtrlService;
 import a8k.service.app.appctrl.AppTubeSettingMgrService;
+import a8k.service.app.appctrl.mainflowctrl.CondtionMgrService;
+import a8k.service.app.appctrl.mainflowctrl.MainFlowCtrlScheduler;
 import a8k.service.app.appstate.ConsumablesMgrService;
 import a8k.service.app.appstate.GStateService;
+import a8k.service.app.appstate.type.DeviceWorkState;
 import a8k.service.app.appstate.type.state.A8kWorkState;
+import a8k.service.app.devicectrl.ctrlservice.OptScanModuleCtrlService;
+import a8k.service.app.devicectrl.driver.StepMotorCtrlDriver;
+import a8k.service.app.devicectrl.driver.type.StepMotorMId;
+import a8k.service.app.devicectrl.exdriver.MotorEnableExDriver;
 import a8k.service.dao.A8kProjIdCardDao;
 import a8k.service.dao.A8kProjInfoDao;
 import a8k.service.dao.A8kProjOptConfigDao;
 import a8k.service.test.fakeproj.FAKE_PROJ_01;
+import a8k.service.test.fakeproj.FAKE_PROJ_02;
 import a8k.service.test.fakeproj.FakeProjInfo;
 import a8k.service.test.fakeproj.FakeProjInfoFactory;
 import a8k.service.test.state.TestModeState;
 import a8k.service.test.state.VirtualDevice;
 import a8k.service.test.type.MainFlowCtrlTestCaseType;
-import a8k.type.ConsumableGroup;
-import a8k.type.ConsumablesScanReport;
-import a8k.type.TubeHolderScanResult;
-import a8k.type.TubesScanResult;
+import a8k.type.*;
 import a8k.type.checkpoint.CheckResult;
 import a8k.type.consumables.ConsumablesScanReportErrorType;
 import a8k.type.ecode.AECodeError;
@@ -32,6 +37,7 @@ import a8k.type.type.A8kTubeHolderType;
 import a8k.type.type.TipGroup;
 import jakarta.annotation.Resource;
 import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Component;
 
 import java.util.List;
@@ -74,6 +80,17 @@ public class MainflowCtrlTestService {
 	//
 	@Resource
 	AppDeviceCtrlService     appDeviceCtrlService;
+	@Resource
+	MainFlowCtrlScheduler    mainFlowCtrlScheduler;
+	@Resource
+	MotorEnableExDriver      motorEnableExDriver;
+	@Resource
+	StepMotorCtrlDriver      stepMotorCtrlDriver;
+	@Resource
+	OptScanModuleCtrlService optScanModuleCtrlService;
+
+	@Resource
+	CondtionMgrService condtionMgrService;
 
 
 	void resetProjDB() {
@@ -142,12 +159,68 @@ public class MainflowCtrlTestService {
 		testModeState.setEnableOptScan(enable);
 	}
 
+	//
+	//	辅助工具
+	//
+	@ExtApiFn(name = "失能整机", group = "调试工具", order = 200)
+	public void disableDevice() throws AppException {
+
+		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModClampingM, 1);
+		stepMotorCtrlDriver.stepMotorEasyMoveByBlock(StepMotorMId.ShakeModClampingM, 10, 3000);
+
+		motorEnableExDriver.forceDisableAllMotor();
+	}
+
+	@ExtApiFn(name = "使能整机", group = "调试工具", order = 201)
+	public void enableDevice() throws AppException {
+		motorEnableExDriver.enableAllMotor();
+	}
+
+	//
+	//	测试配置
+	//
+	@ExtApiFn(name = "读取设备状态", group = "设备控制", order = 401)
+	public DeviceWorkState readDeviceState() {
+		return gstate.getDeviceWorkState();
+	}
+
+	@ExtApiFn(name = "获取动作执行条件", group = "设备控制", order = 402)
+	synchronized public CondtionMgrService getCondtionMgrService() {
+		return condtionMgrService;
+	}
+
+
+	void waittingForStop() {
+		while (gstate.getDeviceWorkState().isPending()) {
+			log.info("等待设备停止工作....");
+			OS.forceSleep(1000);
+		}
+	}
+
+	@ExtApiFn(name = "停止", group = "设备控制", order = 403)
+	public void stopWork() {
+		appDeviceCtrlService.stopWork();
+		waittingForStop();
+	}
+
+	@ExtApiFn(name = "暂停", group = "设备控制", order = 404)
+	public void pauseWork() {
+		appDeviceCtrlService.pauseWork();
+		waittingForStop();
+	}
+
+	@ExtApiFn(name = "继续", group = "设备控制", order = 405)
+	public void continueWork() {
+		appDeviceCtrlService.continueWork();
+		waittingForStop();
+	}
+
 
 	//
 	//	测试用例
 	//
 
-	@ExtApiFn(name = "设备初始化", order = 200)
+	@ExtApiFn(name = "设备初始化", order = 300)
 	public Object deviceInit() throws AppException {
 		List<CheckResult> checkResults = appDeviceCtrlService.initDevice();
 		for (CheckResult checkResult : checkResults) {
@@ -158,24 +231,31 @@ public class MainflowCtrlTestService {
 		return checkResults;
 	}
 
+	@ExtApiFn(name = "清空孵育盘", order = 301)
+	public void clearIncubatorPos(IncubatorPos incubatorPos) throws AppException {
+		optScanModuleCtrlService.pullPlate(incubatorPos);
+		optScanModuleCtrlService.dropPlate();
+	}
+
+
 	void stopAndWaittingForDeviceStop() {
 		log.info("doSimpleTest");
 		//停止工作
 		if (!gstate.getDeviceWorkState().workState.equals(A8kWorkState.IDLE)) {
 			appDeviceCtrlService.stopWork();
-			while (gstate.getDeviceWorkState().isPending()) {
-				log.info("等待设备停止工作....");
-				OS.forceSleep(1000);
-			}
+			waittingForStop();
 		}
 	}
 
 
-	@ExtApiFn(name = "执行一次简单的测试(无试管测试)", order = 200)
+	@ExtApiFn(name = "执行一次简单的测试(无试管测试.流程1)", order = 400)
 	public String doSimpleTest(Boolean isHTube, Integer tubeNum) throws AppException {
 		if (tubeNum <= 0) {
 			throw AppException.of("试管数量必须大于0");
 		}
+		gstate.setDeviceInited(true);
+
+
 		stopAndWaittingForDeviceStop();
 		//清空项目的数据库配置
 		resetProjDB();
@@ -205,5 +285,42 @@ public class MainflowCtrlTestService {
 		return "开始测试";
 	}
 
+	@ExtApiFn(name = "执行一次简单的测试(无试管测试.流程2)", order = 401)
+	public String doSimpleTest2(Boolean isHTube, Integer tubeNum) throws AppException {
+		if (tubeNum <= 0) {
+			throw AppException.of("试管数量必须大于0");
+		}
+
+
+		gstate.setDeviceInited(true);
+
+		stopAndWaittingForDeviceStop();
+		//清空项目的数据库配置
+		resetProjDB();
+
+		//设置虚拟耗材,只有一个高试管
+		testModeState.setVirtualTubeScanResult(createScanResult(A8kTubeHolderType.BloodTube, isHTube, tubeNum));
+		//无校验模式
+		testModeState.setNoCheckMode(true);
+		//无光学检查
+		testModeState.setEnableOptScan(true);
+
+
+		//添加项目信息
+		addProjInfo(FAKE_PROJ_02.class);
+		//设置耗材状态，假定已经扫描过耗材
+		LoadingConsumablesDirectly(ConsumableGroup.GROUP1, new FAKE_PROJ_02());
+		//设置试管架扫描信息，全部设置成高试管
+		appTubeSettingMgrService.removeAllTubeSetting();
+
+		for (int i = 0; i < 3; i++) {
+			TubeHolderSetting setting = createOneActiveTubeHolderSetting(A8kTubeHolderType.BloodTube, tubeNum, List.of(new FAKE_PROJ_02().projId));
+			appTubeSettingMgrService.newTubeHolderSetting(setting);
+		}
+
+		//开始工作
+		appDeviceCtrlService.startWork();
+		return "开始测试";
+	}
 
 }

src/main/java/a8k/service/test/fakeproj/FakeProjInfo.java

@@ -25,10 +25,10 @@ public class FakeProjInfo {
 	public Integer             wBloodSampleVolUl              = 100;
 	public Integer             serumSampleVolUl               = 100;
 	public Integer             shakeTimes                     = 5;
-	public Integer             bigBufferSampleUl              = 200;
-	public Integer             mixLiquidAspirMixingCnt        = 3;
+	public Integer             bigBufferSampleUl              = 100;
+	public Integer             mixLiquidAspirMixingCnt        = 1;
 	public Integer             reactionPlateIncubationTimeMin = 1;
-	public Integer             reactionPlateDropletVolUl      = 100;
+	public Integer             reactionPlateDropletVolUl      = 50;
 	public Boolean             expired                        = false;
 
 	FakeProjInfo(Integer projNum) {

src/main/java/a8k/type/exception/AppException.java

@@ -44,14 +44,14 @@ public class AppException extends Exception {
 		return new AppException(new AECommonError(message));
 	}
 
-
-	public void print() {
-//		printStackTrace();
-		log.error("error {}",this.getMessage(), this);
-//		log.error("exception {}", this.toString());
-//		for (StackTraceElement ste : this.getStackTrace()) {
-//			log.error(ste.toString());
+//
+//	public void print() {
+////		printStackTrace();
+//		log.error("error {}",this.getMessage(), this);
+////		log.error("exception {}", this.toString());
+////		for (StackTraceElement ste : this.getStackTrace()) {
+////			log.error(ste.toString());
+////		}
 //	}
-	}
 
 }