update

src/main/java/a8k/service/appctrl/CondtionMgrService.java

@@ -0,0 +1,130 @@
+package a8k.service.appctrl;
+
+import a8k.hardware.A8kCanBusService;
+import a8k.hardware.type.a8kcanprotocol.IOId;
+import a8k.service.appstate.GStateService;
+import a8k.service.appstate.IncubationPlateMgrService;
+import a8k.service.appstate.type.Tube;
+import a8k.service.appstate.type.state.A8kWorkState;
+import a8k.service.appstate.type.state.TubeHolderState;
+import a8k.service.appstate.type.state.TubeState;
+import a8k.type.exception.AppException;
+import jakarta.annotation.Resource;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.stereotype.Component;
+
+
+@Component
+public class CondtionMgrService {
+	static Logger logger = LoggerFactory.getLogger(CondtionMgrService.class);
+
+	@Resource
+	GStateService gstate;
+
+	@Resource
+	A8kCanBusService canBus;
+
+	@Resource
+	IncubationPlateMgrService incubationPlateMgrService;
+
+	Boolean getTubeholderEnterPosPPS() { //入料通道是否为空
+		try {
+			return canBus.getIOState(IOId.InfeedPPS);
+		} catch (Exception e) {
+			logger.error("getTubeholderEnterPosPPS error", e);
+			return false;
+		}
+	}
+
+	public Boolean isNoMoreTubeToBeProcessed() {
+		return !gstate.getTubeHolder().isHasTubeToBeProcessed();
+	}
+
+	public Boolean isCanDoAction() {
+		return gstate.mainFlowCtrlState.workState.equals(A8kWorkState.WORKING) && !gstate.mainFlowCtrlState.errorFlag;
+	}
+
+
+	public Boolean isHasSometubesToBeProcessed() {
+		return gstate.getTubeHolder().isHasTubeToBeProcessed() || gstate.getEmergencyTubePos().tube.state.equals(TubeState.TO_BE_PROCESSED);
+	}
+
+	public Boolean isCurTubeProcessCompleted() {
+		return gstate.getCurProcessingTube() == null || gstate.getCurProcessingTube().state.equals(TubeState.PROCESS_COMPLETE);
+	}
+
+	public Boolean isTimeToEnterNewTubeHolder() {
+		Boolean cond0 = isCanDoAction();
+		//试管架处于空闲状态
+		Boolean cond1 = gstate.getTubeHolder().state.equals(TubeHolderState.IDLE);
+		//入料通道是否为空
+		Boolean cond2 = getTubeholderEnterPosPPS();
+		return cond0 && cond1 && cond2;
+	}
+
+	public Boolean isTimeToSwitchNextTube() {
+		Boolean cond0 = isCanDoAction();
+		//当前试管处理完成
+		Boolean cond1 = isCurTubeProcessCompleted();
+		//有待处理的试管
+		Boolean cond2 = isHasSometubesToBeProcessed();
+		return cond0 && cond1 && cond2;
+	}
+
+	public Boolean isTimeToProcessPendingTube() {
+		Tube tube = gstate.getCurProcessingTube();
+		if (tube == null)
+			return false;
+
+		//当前正在工作
+		Boolean cond1 = isCanDoAction();
+		//没有试管在处理 或者 当前试管处理完成
+		Boolean cond2 = tube.state.equals(TubeState.PENDING);
+		//急诊有待处理的试管，或者试管架正在处理
+		Boolean cond3 = incubationPlateMgrService.isHasEnoughIncubationIDLEPos(tube.projIndex.size());
+		return cond1 && cond2 && cond3;
+	}
+
+	public Boolean isTimeToPreProcessTube() {
+		Tube tube = gstate.getCurProcessingTube();
+		if (tube == null)
+			return false;
+
+		//当前正在工作
+		Boolean cond1 = isCanDoAction();
+		//没有试管在处理 或者 当前试管处理完成
+		Boolean cond2 = tube.state.equals(TubeState.RESOURCE_IS_READY);
+		//急诊有待处理的试管，或者试管架正在处理
+		Boolean cond3 = incubationPlateMgrService.isHasEnoughIncubationIDLEPos(tube.projIndex.size());
+		return cond1 && cond2 && cond3;
+	}
+
+	public Boolean isTimeToProcessTube() {
+		Tube tube = gstate.getCurProcessingTube();
+		if (tube == null)
+			return false;
+
+		//当前正在工作
+		Boolean cond1 = isCanDoAction();
+		//没有试管在处理 或者 当前试管处理完成
+		Boolean cond2 = tube.state.equals(TubeState.PRE_PROCESSED);
+		//急诊有待处理的试管，或者试管架正在处理
+		Boolean cond3 = incubationPlateMgrService.isHasEnoughIncubationIDLEPos(tube.projIndex.size());
+		return cond1 && cond2 && cond3;
+	}
+
+	public Boolean isTimeToPostProcessTube() {
+		Tube tube = gstate.getCurProcessingTube();
+		if (tube == null)
+			return false;
+
+		//当前正在工作
+		Boolean cond1 = isCanDoAction();
+		//没有试管在处理 或者 当前试管处理完成
+		Boolean cond2 = tube.state.equals(TubeState.PROCESSED);
+		//急诊有待处理的试管，或者试管架正在处理
+		Boolean cond3 = incubationPlateMgrService.isHasEnoughIncubationIDLEPos(tube.projIndex.size());
+		return cond1 && cond2 && cond3;
+	}
+}

src/main/java/a8k/service/appctrl/MainFlowCtrlService.java

@@ -1,8 +1,8 @@
 package a8k.service.appctrl;
 
-import a8k.service.appctrl.action.*;
 import a8k.service.appctrl.action.base.A8kActionStepType;
 import a8k.service.appctrl.action.base.A8kStepAction;
+import a8k.service.appctrl.action.ctrl.DO_STOP;
 import a8k.service.appctrl.scheduler.MainFlowCtrlScheduler;
 import a8k.service.appctrl.type.A8kErrorContext;
 import a8k.service.appstate.GStateService;
@@ -16,7 +16,6 @@ import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.stereotype.Component;
 
-import java.util.Arrays;
 import java.util.List;
 
 @Component

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

@@ -5,18 +5,16 @@ public enum A8kActionStepType {
 	DO_PAUSE,//暂停
 	DO_STOP, //停止
 	DO_RESUME,//恢复
+	DO_CLEAR_ERROR,//清除错误,特殊动作,无需注册成类型
 
+	//mainflow
 	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_APPLAY_RESOURCE,//申请资源
 	SEQ4_PRE_PROCESS,
+	SEQ5_PROCESS,
+	SEQ6_POST_PROCESS,
+	SEQ7_EJECT_TUBEHOLDER, //弹出试管架
 
-	//	SEQ4_PROCESS,
-	//	SEQ5_POS_PROCESS_TUBE,
-
-
-	DO_EJECT_TUBEHOLDER, //弹出试管架
-
-	//特殊动作，无需注册成类型
-	DO_CLEAR_ERROR,//清除错误
+	//
 }

src/main/java/a8k/service/appctrl/action/DO_PAUSE.java → src/main/java/a8k/service/appctrl/action/ctrl/DO_PAUSE.java

@@ -1,4 +1,4 @@
-package a8k.service.appctrl.action;
+package a8k.service.appctrl.action.ctrl;
 
 import a8k.service.appctrl.action.base.A8kActionStepType;
 import a8k.service.appctrl.action.base.A8kStepAction;

src/main/java/a8k/service/appctrl/action/DO_RESUME.java → src/main/java/a8k/service/appctrl/action/ctrl/DO_RESUME.java

@@ -1,4 +1,4 @@
-package a8k.service.appctrl.action;
+package a8k.service.appctrl.action.ctrl;
 
 import a8k.service.appctrl.action.base.A8kActionStepType;
 import a8k.service.appctrl.action.base.A8kStepAction;
@@ -19,7 +19,7 @@ public class DO_RESUME extends A8kStepAction {
 	static Logger logger = LoggerFactory.getLogger(DO_RESUME.class);
 
 	DO_RESUME() {
-		super(A8kActionStepType.DO_STOP);
+		super(A8kActionStepType.DO_RESUME);
 	}
 
 	@Resource

src/main/java/a8k/service/appctrl/action/DO_START.java → src/main/java/a8k/service/appctrl/action/ctrl/DO_START.java

@@ -1,4 +1,4 @@
-package a8k.service.appctrl.action;
+package a8k.service.appctrl.action.ctrl;
 
 import a8k.service.appctrl.action.base.A8kActionStepType;
 import a8k.service.appctrl.action.base.A8kStepAction;

src/main/java/a8k/service/appctrl/action/DO_STOP.java → src/main/java/a8k/service/appctrl/action/ctrl/DO_STOP.java

@@ -1,4 +1,4 @@
-package a8k.service.appctrl.action;
+package a8k.service.appctrl.action.ctrl;
 
 import a8k.service.appctrl.action.base.A8kActionStepType;
 import a8k.service.appctrl.action.base.A8kStepAction;

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

@@ -5,6 +5,7 @@ import a8k.baseservice.appeventbus.appevent.AppWarningNotifyEvent;
 import a8k.hardware.A8kCanBusService;
 import a8k.hardware.type.a8kcanprotocol.A8kEcode;
 import a8k.hardware.type.a8kcanprotocol.IOId;
+import a8k.service.appctrl.CondtionMgrService;
 import a8k.service.appdata.AppSampleRecordMgrService;
 import a8k.service.appctrl.AppTubeSettingMgrService;
 import a8k.service.appctrl.action.base.A8kActionStepType;
@@ -64,6 +65,8 @@ public class SEQ1_ENTER_TUBEHOLDER_AND_SCAN extends A8kStepAction {
 	@Resource
 	GStateService                gstate;
 	@Resource
+	CondtionMgrService           cmgr;
+	@Resource
 	SampleScanTransportCtrl      stc;
 	@Resource
 	AppEventBusService           ebus;
@@ -74,14 +77,6 @@ public class SEQ1_ENTER_TUBEHOLDER_AND_SCAN extends A8kStepAction {
 	@Resource
 	TubeProcessContextMgrService tubeProcessContextMgrService;
 
-	MainFlowCtrlState mfcs;
-
-
-	@PostConstruct
-	void init() {
-		mfcs = gstate.mainFlowCtrlState;
-	}
-
 
 	SampleScanResult scanTubeHodler() throws AppException {
 		SampleScanResult result = new SampleScanResult();
@@ -225,13 +220,7 @@ public class SEQ1_ENTER_TUBEHOLDER_AND_SCAN extends A8kStepAction {
 	}
 
 	@Override public Boolean checkCondition() {
-		//处于工作状态
-		Boolean cond1 = gstate.isWorking();
-		//试管架处于空闲状态
-		Boolean cond2 = gstate.getTubeHolder().state.equals(TubeHolderState.IDLE);
-		//入料通道是否为空
-		Boolean cond3 = getTubeholderEnterPosPPS();
-		return cond1 && cond2 && cond3;
+		return cmgr.isTimeToEnterNewTubeHolder();
 	}
 
 	@Override public List<A8kPublicResourceType> getResourceList() {
@@ -265,13 +254,5 @@ public class SEQ1_ENTER_TUBEHOLDER_AND_SCAN extends A8kStepAction {
 		tryUpdateGroupId = true;
 	}
 
-	Boolean getTubeholderEnterPosPPS() { //入料通道是否为空
-		try {
-			return canBus.getIOState(IOId.InfeedPPS);
-		} catch (AppException e) {
-			logger.error("getTubeholderEnterPosPPS error", e);
-			return false;
-		}
-	}
 
 }

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

@@ -1,9 +1,11 @@
 package a8k.service.appctrl.action.mainflow;
 
+import a8k.service.appctrl.CondtionMgrService;
 import a8k.service.appctrl.action.base.A8kActionStepType;
 import a8k.service.appctrl.action.base.A8kStepAction;
 import a8k.service.appstate.*;
 import a8k.service.appstate.resource.A8kPublicResourceType;
+import a8k.service.appstate.type.MainFlowCtrlState;
 import a8k.service.appstate.type.TubeHolder;
 import a8k.service.appstate.type.Tube;
 import a8k.service.appstate.type.state.TubeState;
@@ -38,9 +40,15 @@ public class SEQ2_SWITCH_TO_THE_NEXT_TUBE extends A8kStepAction {
 	SampleScanTransportCtrl    sstc;
 	@Resource
 	TubeProcessStateMgrService tubeProcessStateMgrService;
+	@Resource
+	CondtionMgrService         cms;
+
+
+	MainFlowCtrlState state;
 
 	@PostConstruct
 	void init() {
+		state = gstate.mainFlowCtrlState;
 	}
 
 	int moveToNextTube() {
@@ -89,13 +97,7 @@ public class SEQ2_SWITCH_TO_THE_NEXT_TUBE extends A8kStepAction {
 	}
 
 	@Override public Boolean checkCondition() {
-		//当前正在工作
-		Boolean cond1 = gstate.isWorking();
-		//没有试管在处理 或者 当前试管处理完成
-		Boolean cond2 = gstate.getCurProcessingTube() == null || gstate.getCurProcessingTube().state.equals(TubeState.PROCESS_COMPLETE);
-		//急诊有待处理的试管，或者试管架正在处理
-		Boolean cond3 = gstate.getTubeHolder().isHasTubeToBeProcessed() || gstate.getEmergencyTubePos().tube.state.equals(TubeState.TO_BE_PROCESSED);
-		return cond1 && cond2 && cond3;
+		return cms.isTimeToSwitchNextTube();
 	}
 
 	@Override public List<A8kPublicResourceType> getResourceList() {

src/main/java/a8k/service/appctrl/action/mainflow/SEQ3_APPLAY_RESOURCE.java

@@ -2,13 +2,14 @@ package a8k.service.appctrl.action.mainflow;
 
 import a8k.baseservice.AppExceptionBuilder;
 import a8k.hardware.type.a8kcanprotocol.A8kEcode;
+import a8k.service.appctrl.CondtionMgrService;
 import a8k.service.appdata.AppProjInfoMgrService;
 import a8k.service.appctrl.action.base.A8kActionStepType;
 import a8k.service.appctrl.action.base.A8kStepAction;
 import a8k.service.appstate.*;
 import a8k.service.appstate.resource.A8kPublicResourceType;
+import a8k.service.appstate.type.MainFlowCtrlState;
 import a8k.service.appstate.type.Tube;
-import a8k.service.appstate.type.state.TubeState;
 import a8k.type.Consumable;
 import a8k.type.IncubatorPos;
 import a8k.type.TipPos;
@@ -51,10 +52,15 @@ public class SEQ3_APPLAY_RESOURCE extends A8kStepAction {
 	AppProjInfoMgrService      appProjInfoMgrService; //项目信息管理
 	@Resource
 	TubeProcessStateMgrService tubeProcessStateMgrService; //试管处理状态管理
+	@Resource
+	CondtionMgrService         cms;
+
 
+	MainFlowCtrlState state;
 
 	@PostConstruct
 	void init() {
+		state = gstate.mainFlowCtrlState;
 	}
 
 	@Override public void doaction() throws AppException {
@@ -106,22 +112,12 @@ public class SEQ3_APPLAY_RESOURCE extends A8kStepAction {
 			tipPos.add(tips);
 		}
 		//创建项目处理上下文
-		tubeProcessStateMgrService.startProcessTube(a8kIdCardInfo, consumables, tipPos, incubatorPoss);
+		tubeProcessStateMgrService.setTubeResourceIsReady(a8kIdCardInfo, consumables, tipPos, incubatorPoss);
 		logger.info("apply resource ok");
 	}
 
 	@Override public Boolean checkCondition() {
-		Tube tube = gstate.getCurProcessingTube();
-		if (tube == null)
-			return false;
-
-		//当前正在工作
-		Boolean cond1 = gstate.isWorking();
-		//没有试管在处理 或者 当前试管处理完成
-		Boolean cond2 = tube.state.equals(TubeState.PENDING);
-		//急诊有待处理的试管，或者试管架正在处理
-		Boolean cond3 = incubationPlateMgrService.isHasEnoughIncubationIDLEPos(tube.projIndex.size());
-		return cond1 && cond2 && cond3;
+		return cms.isTimeToProcessPendingTube();
 	}
 
 	@Override public List<A8kPublicResourceType> getResourceList() {

src/main/java/a8k/service/appctrl/action/mainflow/SEQ4_PRE_PROCESS.java

@@ -1,22 +1,24 @@
 package a8k.service.appctrl.action.mainflow;
 
 import a8k.OS;
+import a8k.service.appctrl.CondtionMgrService;
 import a8k.service.appdata.AppProjInfoMgrService;
 import a8k.baseservice.AppExceptionBuilder;
 import a8k.baseservice.appeventbus.AppEventBusService;
 import a8k.service.appctrl.action.base.A8kActionStepType;
 import a8k.service.appctrl.action.base.A8kStepAction;
-import a8k.service.appstate.ConsumablesMgrService;
-import a8k.service.appstate.GStateService;
-import a8k.service.appstate.IncubationPlateMgrService;
-import a8k.service.appstate.TubeProcessContextMgrService;
+import a8k.service.appstate.*;
 import a8k.service.appstate.resource.A8kPublicResourceType;
+import a8k.service.appstate.type.MainFlowCtrlState;
+import a8k.service.appstate.type.Tube;
 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.ecode.AppError;
 import a8k.type.exception.AppException;
+import a8k.utils.ZFnCall;
 import jakarta.annotation.PostConstruct;
 import jakarta.annotation.Resource;
 import org.slf4j.Logger;
@@ -24,6 +26,7 @@ import org.slf4j.LoggerFactory;
 import org.springframework.stereotype.Component;
 
 import java.util.List;
+import java.util.Objects;
 import java.util.concurrent.*;
 
 /**
@@ -50,8 +53,6 @@ public class SEQ4_PRE_PROCESS extends A8kStepAction {
 	@Resource
 	ConsumablesMgrService consumablesMgrService;
 
-	@Resource
-	IncubationPlateMgrService incubationPlateMgrService;
 
 	@Resource
 	AppProjInfoMgrService appProjInfoMgrService;
@@ -74,6 +75,15 @@ public class SEQ4_PRE_PROCESS extends A8kStepAction {
 	@Resource
 	HbotControlService hbotControlService;
 
+	@Resource
+	TubeProcessStateMgrService tubeProcessStateMgrService;
+
+	@Resource
+	IncubationPlateMgrService incubationPlateMgrService;
+
+	@Resource
+	CondtionMgrService cms;
+
 	ThreadPoolExecutor executor = new ThreadPoolExecutor(1, 3, 0, TimeUnit.MILLISECONDS, new ArrayBlockingQueue<>(10));
 
 
@@ -81,12 +91,16 @@ public class SEQ4_PRE_PROCESS extends A8kStepAction {
 	void init() {
 	}
 
-
 	/**
 	 * 推出反应板夹
 	 * @throws AppException 异常
 	 */
 	void prepareReactionPlate() throws AppException {
+		if (gstate.debugMode) {
+			logger.info("prepareReactionPlate");
+			OS.forceSleep(1000);
+			return;
+		}
 		//		Tube                  tube              = gstate.getCurProcessingTube();
 		//		List<Integer>         projIndex         = tube.projIndex;
 		//		List<IncubatorPos>    incubatorPos      = tube.incubatorPos;
@@ -97,6 +111,7 @@ public class SEQ4_PRE_PROCESS extends A8kStepAction {
 		//			reactionPlatesTransmitCtrl.pushPlate(bindConsumablesCh.get(i), incubatorPos.get(i));
 		//			tank.state = IncubationSubTankState.WAITING_FOR_DROP;
 		//		}
+
 	}
 
 	/**
@@ -104,6 +119,12 @@ public class SEQ4_PRE_PROCESS extends A8kStepAction {
 	 * @throws AppException
 	 */
 	void shakeAndTakeCap() throws AppException {
+		if (gstate.debugMode) {
+			logger.info("shakeAndTakeCap");
+			OS.forceSleep(1000);
+			return;
+		}
+
 		//		Tube tube = gstate.getCurProcessingTube();
 		//		if (tube.isEmergency) {
 		//			//如果事急诊位则什么也不做
@@ -120,9 +141,15 @@ public class SEQ4_PRE_PROCESS extends A8kStepAction {
 		//		samplesPreProcesCtrl.takeTubeAndJudgeTubeExist(tube.isHighTube);
 		//		samplesPreProcesCtrl.shakeTube(45, 5);
 		//		samplesPreProcesCtrl.takeTubeCap();
+		OS.forceSleep(1000);
 	}
 
 	void hbotPrepareTip() throws AppException {
+		if (gstate.debugMode) {
+			logger.info("hbotPrepareTip");
+			OS.forceSleep(1000);
+			return;
+		}
 		//		Tube tube = gstate.getCurProcessingTube();
 		//		//		hbotControlService.takeTip();
 		//		TipPos tippos = consumablesMgrService.takeNextTipPosAndSetUsed();
@@ -138,66 +165,9 @@ public class SEQ4_PRE_PROCESS extends A8kStepAction {
 		//		}
 		//
 		//		logger.info("takeTip success");
+		OS.forceSleep(1000);
 	}
 
-	//	@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 void doaction() throws AppException {
 		//
 		//		1.准备3份反应板夹
@@ -205,44 +175,46 @@ public class SEQ4_PRE_PROCESS extends A8kStepAction {
 		//		3.摇匀，脱帽
 		//
 
+		Tube tube = gstate.getCurProcessingTube();
+		//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);
+		}
 
-
-		//		List<TipPos> tipPos
-		//		consumablesMgrService.getChannelNumByProjIndex(projIndex);
-
-
-		//
-		//	计算需要执行的动作
-		//
-
-		//
-		//	执行动作
-		//
-
-		//
-		//  赋值状态
-		//
-
-		//
-		//	恢复状态
-		//
-
+		tubeProcessStateMgrService.setCurTubeState(TubeState.PRE_PROCESSED);
+		incubationPlateMgrService.waitingForDrop(tube);
+		logger.info("pre process success");
 	}
 
 
 	@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;
+		return cms.isTimeToPreProcessTube();
 	}
 
 	@Override public List<A8kPublicResourceType> getResourceList() {
 		return List.of(
 				A8kPublicResourceType.IncubationPlateMotor,
 				A8kPublicResourceType.PlatesBoxMotor,
-				A8kPublicResourceType.HBOT
+				A8kPublicResourceType.HBOT,
+				A8kPublicResourceType.CurTubeProcessToken
 		);
 	}
 

src/main/java/a8k/service/appctrl/action/mainflow/SEQ5_PROCESS.java

@@ -0,0 +1,96 @@
+package a8k.service.appctrl.action.mainflow;
+
+import a8k.OS;
+import a8k.baseservice.AppExceptionBuilder;
+import a8k.service.appctrl.CondtionMgrService;
+import a8k.service.appctrl.action.base.A8kActionStepType;
+import a8k.service.appctrl.action.base.A8kStepAction;
+import a8k.service.appstate.*;
+import a8k.service.appstate.resource.A8kPublicResourceType;
+import a8k.service.appstate.type.MainFlowCtrlState;
+import a8k.service.appstate.type.Tube;
+import a8k.service.appstate.type.state.TubeState;
+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;
+import java.util.concurrent.*;
+
+/**
+ *
+ *  核对物料资源是否足够
+ *	TUBE
+ *		TO_BE_PROCESSED --> PRE_PROCESSING
+ */
+@Component
+public class SEQ5_PROCESS extends A8kStepAction {
+	static Logger logger = LoggerFactory.getLogger(SEQ5_PROCESS.class);
+
+	SEQ5_PROCESS() {
+		super(A8kActionStepType.SEQ5_PROCESS);
+	}
+
+	@Resource
+	GStateService gstate;
+
+	@Resource
+	AppExceptionBuilder ebuilder;
+
+	@Resource
+	TubeProcessStateMgrService tubeProcessStateMgrService;
+
+	@Resource
+	IncubationPlateMgrService incubationPlateMgrService;
+
+	@Resource
+	CondtionMgrService cms;
+
+
+	MainFlowCtrlState state;
+
+	@PostConstruct
+	void init() {
+		state = gstate.mainFlowCtrlState;
+	}
+
+	@Override public void doaction() throws AppException {
+		//
+		//		1.准备3份反应板夹
+		//		2.取tip头
+		//		3.摇匀，脱帽
+		//
+		tubeProcessStateMgrService.setCurTubeState(TubeState.PROCESSING);
+		Tube tube = gstate.getCurProcessingTube();
+		OS.forceSleep(3000);
+		tubeProcessStateMgrService.setCurTubeState(TubeState.PROCESSED);
+		incubationPlateMgrService.startIncubating(tube);
+		logger.info("pre process success");
+	}
+
+
+	@Override public Boolean checkCondition() {
+		return cms.isTimeToProcessTube();
+	}
+
+	@Override public List<A8kPublicResourceType> getResourceList() {
+		return List.of(
+				A8kPublicResourceType.IncubationPlateMotor,
+				A8kPublicResourceType.HBOT,
+				A8kPublicResourceType.CurTubeProcessToken
+		);
+	}
+
+	//
+	//	UTILS
+	//
+
+	void wait(Future<?> future) {
+		while (!future.isDone()) {
+			OS.forceSleep(100);
+		}
+	}
+}

src/main/java/a8k/service/appctrl/action/mainflow/SEQ6_POST_PROCESS.java

@@ -0,0 +1,95 @@
+package a8k.service.appctrl.action.mainflow;
+
+import a8k.OS;
+import a8k.baseservice.AppExceptionBuilder;
+import a8k.service.appctrl.CondtionMgrService;
+import a8k.service.appctrl.action.base.A8kActionStepType;
+import a8k.service.appctrl.action.base.A8kStepAction;
+import a8k.service.appstate.*;
+import a8k.service.appstate.resource.A8kPublicResourceType;
+import a8k.service.appstate.type.MainFlowCtrlState;
+import a8k.service.appstate.type.Tube;
+import a8k.service.appstate.type.state.TubeState;
+import a8k.type.ecode.AppError;
+import a8k.type.exception.AppException;
+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.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 SEQ6_POST_PROCESS extends A8kStepAction {
+	static Logger logger = LoggerFactory.getLogger(SEQ6_POST_PROCESS.class);
+
+	SEQ6_POST_PROCESS() {
+		super(A8kActionStepType.SEQ6_POST_PROCESS);
+	}
+
+	@Resource
+	GStateService gstate;
+
+	@Resource
+	AppExceptionBuilder ebuilder;
+
+	@Resource
+	TubeProcessStateMgrService tubeProcessStateMgrService;
+
+	@Resource
+	IncubationPlateMgrService incubationPlateMgrService;
+
+	@Resource
+	CondtionMgrService cms;
+
+
+	ThreadPoolExecutor executor = new ThreadPoolExecutor(1, 3, 0, TimeUnit.MILLISECONDS, new ArrayBlockingQueue<>(10));
+
+
+	MainFlowCtrlState state;
+
+	@PostConstruct
+	void init() {
+		state = gstate.mainFlowCtrlState;
+	}
+
+	@Override public void doaction() throws AppException {
+		tubeProcessStateMgrService.setCurTubeState(TubeState.POST_PROCESSING);
+		Tube tube = gstate.getCurProcessingTube();
+		OS.forceSleep(3000);
+		tubeProcessStateMgrService.setCurTubeState(TubeState.POST_PROCESSED);
+	}
+
+	@Override public Boolean checkCondition() {
+		return cms.isTimeToPostProcessTube();
+	}
+
+	@Override public List<A8kPublicResourceType> getResourceList() {
+		return List.of(
+				A8kPublicResourceType.IncubationPlateMotor,
+				A8kPublicResourceType.PlatesBoxMotor,
+				A8kPublicResourceType.HBOT,
+				A8kPublicResourceType.CurTubeProcessToken
+		);
+	}
+
+	//
+	//	UTILS
+	//
+
+	void wait(Future<?> future) {
+		while (!future.isDone()) {
+			OS.forceSleep(100);
+		}
+	}
+}

src/main/java/a8k/service/appctrl/action/mainflow/DO_EJECT_TUBEHOLDER.java → src/main/java/a8k/service/appctrl/action/mainflow/SEQ7_EJECT_TUBEHOLDER.java

@@ -1,5 +1,6 @@
 package a8k.service.appctrl.action.mainflow;
 
+import a8k.service.appctrl.CondtionMgrService;
 import a8k.service.appctrl.action.base.A8kActionStepType;
 import a8k.service.appctrl.action.base.A8kStepAction;
 import a8k.service.appstate.GStateService;
@@ -18,11 +19,11 @@ import org.springframework.stereotype.Component;
 import java.util.List;
 
 @Component
-public class DO_EJECT_TUBEHOLDER extends A8kStepAction {
-	static Logger logger = LoggerFactory.getLogger(DO_EJECT_TUBEHOLDER.class);
+public class SEQ7_EJECT_TUBEHOLDER extends A8kStepAction {
+	static Logger logger = LoggerFactory.getLogger(SEQ7_EJECT_TUBEHOLDER.class);
 
-	DO_EJECT_TUBEHOLDER() {
-		super(A8kActionStepType.DO_EJECT_TUBEHOLDER);
+	SEQ7_EJECT_TUBEHOLDER() {
+		super(A8kActionStepType.SEQ7_EJECT_TUBEHOLDER);
 	}
 
 	@Resource
@@ -30,12 +31,14 @@ public class DO_EJECT_TUBEHOLDER extends A8kStepAction {
 	@Resource
 	SampleScanTransportCtrl stc;
 
-	MainFlowCtrlState mfcs;
+	MainFlowCtrlState state;
 
+	@Resource
+	CondtionMgrService cms;
 
 	@PostConstruct
 	void init() {
-		mfcs = gstate.mainFlowCtrlState;
+		state = gstate.mainFlowCtrlState;
 	}
 
 	@Override public void doaction() throws AppException {
@@ -46,9 +49,9 @@ public class DO_EJECT_TUBEHOLDER extends A8kStepAction {
 
 	@Override public Boolean checkCondition() {
 		//处于工作状态，试管架已经处于空闲状态，入料光电被触发
-		Boolean cond1 = mfcs.workState.equals(A8kWorkState.WORKING);
+		Boolean cond1 = cms.isCanDoAction();
 		Boolean cond2 = gstate.getTubeHolder().state.equals(TubeHolderState.PROCESSING);
-		Boolean cond3 = !gstate.getTubeHolder().isHasTubeToBeProcessed();
+		Boolean cond3 = cms.isNoMoreTubeToBeProcessed();
 		return cond1 & cond2 & cond3;
 	}
 

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

@@ -60,8 +60,6 @@ public class MainFlowCtrlScheduler {
 	A8kEcodePostProcesser  ecodePostProcesser;
 	A8kEcodeClearProcesser ecodeClearProcesser;
 
-	Boolean clearErrorPendingFlag = false; //清除错误请求标志
-
 	List<A8kStepAction> stepActionList = new ArrayList<>();
 
 	@PostConstruct
@@ -270,11 +268,6 @@ public class MainFlowCtrlScheduler {
 		while (workThread.isAlive()) {
 			if (state.fatalErrorFlag) {
 				OS.forceSleep(800);
-			} else if (clearErrorPendingFlag) {
-				clearError();
-				OS.forceSleep(800);
-			} else if (state.errorFlag) {
-				OS.forceSleep(800);
 			} else {
 				doActions(guessWhatToDo());
 				OS.forceSleep(800);

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

@@ -44,6 +44,8 @@ public class GStateService {
 	//当前正在处理的试管
 	Tube curProcessingTube = null;
 
+	public Boolean debugMode = true;
+
 	//主流程控制状态
 	public MainFlowCtrlState mainFlowCtrlState = new MainFlowCtrlState();
 

src/main/java/a8k/service/appstate/IncubationPlateMgrService.java

@@ -4,6 +4,8 @@ import a8k.controler.extapi.pagecontrol.ExtApiTabConfig;
 import a8k.controler.extapi.utils.ExtApiTab;
 import a8k.hardware.type.a8kcanprotocol.A8kEcode;
 import a8k.service.appstate.type.IncubationSubTank;
+import a8k.service.appstate.type.ProjProcessContext;
+import a8k.service.appstate.type.Tube;
 import a8k.service.appstate.type.state.IncubationSubTankState;
 import a8k.type.IncubatorPos;
 import jakarta.annotation.Resource;
@@ -55,6 +57,7 @@ public class IncubationPlateMgrService {
 		return ret;
 	}
 
+
 	synchronized public void setIncubationPlateState(IncubatorPos pos, IncubationSubTankState state) {
 		var incubationState = gstate.getIncubationPlate();
 		var subtanks        = incubationState.subtanks;
@@ -73,6 +76,32 @@ public class IncubationPlateMgrService {
 		}
 	}
 
+
+	synchronized public void waitingForDrop(Tube tube) {
+		var incubationState = gstate.getIncubationPlate();
+		var subtanks        = incubationState.subtanks;
+
+		for (ProjProcessContext context : tube.projProcessContexts) {
+			subtanks[context.incubatorPos.off].state             = IncubationSubTankState.WAITING_FOR_DROP;
+			subtanks[context.incubatorPos.off].projProcessContxt = context;
+			subtanks[context.incubatorPos.off].bloodType     = tube.bloodType;
+			subtanks[context.incubatorPos.off].sampleBarcode = tube.sampleBarcode;
+			subtanks[context.incubatorPos.off].userid        = tube.userid;
+			subtanks[context.incubatorPos.off].projIndex     = context.projIndex;
+			subtanks[context.incubatorPos.off].projName      = context.projName;
+		}
+	}
+
+	synchronized public void startIncubating(Tube tube){
+		var incubationState = gstate.getIncubationPlate();
+		var subtanks        = incubationState.subtanks;
+
+		for (ProjProcessContext context : tube.projProcessContexts) {
+			subtanks[context.incubatorPos.off].state             = IncubationSubTankState.INCUBATING;
+		}
+
+	}
+
 	synchronized public void setIncubationPlateStateError(IncubatorPos pos, A8kEcode ecode) {
 		var incubationState = gstate.getIncubationPlate();
 		var subtanks        = incubationState.subtanks;

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

@@ -122,9 +122,11 @@ public class TubeProcessContextMgrService {
 	}
 
 
-	synchronized public void createProjProcessContext(@NotNull Tube tube, @NotNull A8kIdCardInfo idCardInfo,@NotNull  Consumable consumable, @NotNull List<TipPos> tipPos, @NotNull IncubatorPos incubatorPos) {
+	synchronized public void createProjProcessContext(@NotNull Tube tube, @NotNull A8kIdCardInfo idCardInfo, @NotNull Consumable consumable, @NotNull List<TipPos> tipPos,
+			@NotNull IncubatorPos incubatorPos) {
 		ProjProcessContext context = new ProjProcessContext();
 		context.projIndex     = idCardInfo.projIndex;
+		context.projName      = idCardInfo.projName;
 		context.a8kIdCardInfo = idCardInfo;
 		context.consumable    = consumable;
 		context.incubatorPos  = incubatorPos;
@@ -134,4 +136,6 @@ public class TubeProcessContextMgrService {
 
 		tube.projProcessContexts.add(context);
 	}
+
+
 }

src/main/java/a8k/service/appstate/TubeProcessStateMgrService.java

@@ -20,20 +20,23 @@ public class TubeProcessStateMgrService {
 	@Resource
 	TubeProcessContextMgrService tubeProcessContextMgrService;
 
+
+
 	synchronized public void setCurTubeState(TubeState state) {
 		Tube tube = gstate.getCurProcessingTube();
 		assert tube != null;
+
 		tube.state = state;
 	}
 
-	synchronized public void startProcessTube(@NotNull List<A8kIdCardInfo> idCardInfo, @NotNull List<Consumable> consumable, @NotNull List<List<TipPos>> tipPos,
+	synchronized public void setTubeResourceIsReady(@NotNull List<A8kIdCardInfo> idCardInfo, @NotNull List<Consumable> consumable, @NotNull List<List<TipPos>> tipPos,
 			@NotNull List<IncubatorPos> incubatorPos) {
 		Tube tube = gstate.getCurProcessingTube();
 		assert tube != null;
 		for (int i = 0; i < tube.projIndex.size(); i++) {
 			tubeProcessContextMgrService.createProjProcessContext(tube, idCardInfo.get(i), consumable.get(i), tipPos.get(i), incubatorPos.get(i));
 		}
-		tube.state = TubeState.PRE_PROCESSING;
+		tube.state = TubeState.RESOURCE_IS_READY;
 	}
 
 	synchronized public void pendingTube(Tube tube) {

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

@@ -21,6 +21,9 @@ public class IncubationSubTank {
 	public Integer   projIndex     = 0; //项目代码
 	public String    projName      = ""; //项目名称
 
+	//
+	public ProjProcessContext projProcessContxt;
+
 	//孵育时间
 	public Date    startIncubatedTime; //开始孵育时间
 	public Integer targetIncubatedTimeS; //目标孵育时间

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

@@ -12,6 +12,7 @@ public class ProjProcessContext {
 	public String sampleId; //样本ID-系统生成-唯一标识一个样本
 
 	public Integer       projIndex;//项目代码
+	public String        projName;
 	public A8kIdCardInfo a8kIdCardInfo;//a8k卡信息
 	public Consumable    consumable;//耗材绑定的通道号
 	public IncubatorPos  incubatorPos;//孵育位置

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

@@ -19,10 +19,11 @@ public class Tube {
 	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<String>  projName      = new ArrayList<>(); //项目名称
 
 	//
 	public TubeState                state = TubeState.EMPTY; //样本被处理的状态
 	public List<ProjProcessContext> projProcessContexts;
-	public A8kEcode ecode = null;
+	public A8kEcode                 ecode = null;
 
 }

src/main/java/a8k/service/appstate/type/state/TubeState.java

@@ -7,6 +7,7 @@ public enum TubeState {
 	EMPTY,//空
 	TO_BE_PROCESSED,//待处理
 	PENDING,//挂起的试管，即下一个被处理的试管
+	RESOURCE_IS_READY,//资源准备好
 	PRE_PROCESSING, //预处理
 	PRE_PROCESSED, //预处理结束
 	PROCESSING,//处理