fix some bug

src/main/java/a8k/app/engineer/service/qatest/ExperimentConsistencyTestingService.java

@@ -45,7 +45,6 @@ import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 import org.springframework.util.Assert;
 
-import javax.swing.*;
 import java.util.List;
 import java.util.Objects;
 
@@ -62,9 +61,9 @@ import java.util.Objects;
 @RequiredArgsConstructor
 public class ExperimentConsistencyTestingService {
 
-	final private A8kTubeHolderType expectedTubeHolderType = A8kTubeHolderType.BulletTube1P5;
-	final private Integer           expectedProjId         = 1;
-	final private Integer           takeSampleUl           = 10;
+	//	final private A8kTubeHolderType expectedTubeHolderType = A8kTubeHolderType.BulletTube1P5;
+	final private Integer expectedProjId = 1;
+	final private Integer takeSampleUl   = 10;
 
 	final private EngineerModeStateMgrService engineerModeStateMgrService;
 
@@ -105,8 +104,8 @@ public class ExperimentConsistencyTestingService {
 	private final HbotMoveCtrlService              hbotMoveCtrlService;
 	private final PipetteGunExParamMgr             pipetteGunExParamMgr;
 
-
 	private TubeHolderSetting  curTubeHolderSetting;
+	private A8kSamplePos       samplePos;
 	private TubeHolderExConfig tubeHolderExConfig = new TubeHolderExConfig();
 
 	synchronized public void submitTubeExConfig(TubeHolderExConfig tubeExTubeHolderExConfig) {
@@ -282,6 +281,15 @@ public class ExperimentConsistencyTestingService {
 		//核对试管架信息
 		verifyTubeHolderSettingAndTubeHolderScanResult(curTubeHolderSetting, scanResult);
 		//
+		A8kTubeHolderType tubeHolderType = A8kTubeHolderType.of(scanResult.tubeHolderType);
+		if (A8kTubeHolderType.BulletTube1P5.equals(tubeHolderType)) {
+			samplePos = A8kSamplePos.Bulltube1P5Pos;
+		} else if (A8kTubeHolderType.BulletTube0P5.equals(tubeHolderType)) {
+			samplePos = A8kSamplePos.Bulltube0P5Pos;
+		} else {
+			throw AppException.of(A8kEcode.APPE_TUBE_HOLDER_TYPE_IS_NOT_SUPPORT, "请使用子弹头1.5ml或者子弹头0.5ml试管架");
+		}
+
 
 		//构建试管架
 		// setTubeHolderDirect
@@ -340,10 +348,9 @@ public class ExperimentConsistencyTestingService {
 				docmd("HBOT复位", hbotMoveExCtrlService::moveQuickToZero);
 			}
 		}
-
+		tubeFeedingCtrlService.ejectTubeHolder();
 
 		incubationPlateProcess(true);
-		tubeFeedingCtrlService.ejectTubeHolder();
 		incubationPlateStateMgrService.resetAll();
 		UISender.txInfoPrompt(log, "试剂实验一致性检测完成");
 	}
@@ -388,9 +395,11 @@ public class ExperimentConsistencyTestingService {
 				//刺破缓冲液
 				hbotMoveExCtrlService.moveToLittleBufferPiercePos(consumableInfo.group, consumableInfo.pos);
 				//取样品
-				Assert.isTrue(expectedTubeHolderType.equals(A8kTubeHolderType.BulletTube1P5), "expectedTubeHolderType != BulletTube1P5");
-				hbotMoveExCtrlService.moveToSamplePosXY(A8kSamplePos.Bulltube1P5Pos);
-				liquidOperationCtrlService.takeSample(A8kSamplePos.Bulltube1P5Pos, preProcessPos, takeSampleUl);
+				Assert.isTrue(!samplePos.equals(A8kSamplePos.EmergencyTubePos), "samplePos cannot be EmergencyTubePos");
+				Assert.isTrue(!samplePos.equals(A8kSamplePos.BloodHTubePos), "samplePos cannot be BloodHTubePos");
+				Assert.isTrue(!samplePos.equals(A8kSamplePos.BloodSTubePos), "samplePos cannot be BloodSTubePos");
+				hbotMoveExCtrlService.moveToSamplePosXY(samplePos);
+				liquidOperationCtrlService.takeSample(samplePos, preProcessPos, takeSampleUl);
 				//取混合液到预反应位
 				liquidOperationCtrlService.takePreReactionLiquidToReation(preProcessPos);
 				incubationPlateStateMgrService.startIncubating(freeIncubationPos, System.currentTimeMillis(), projBuildinInfo.reactionPlateIncubationTimeMin * 60);
@@ -495,8 +504,8 @@ public class ExperimentConsistencyTestingService {
 
 	private void verifyTubeHolderSettingAndTubeHolderScanResult(TubeHolderSetting tubeHolderSetting, TubeFeedingCtrlService.TubeHolderScanResult scanResult) throws AppException {
 		A8kTubeHolderType tubeHolderType = A8kTubeHolderType.of(scanResult.tubeHolderType);
-		if (!expectedTubeHolderType.equals(tubeHolderType)) {
-			throw AppException.of(A8kEcode.APPE_TUBE_HOLDER_TYPE_IS_NOT_SUPPORT, "请使用子弹头1.5ml试管架");
+		if (!tubeHolderType.equals(A8kTubeHolderType.BulletTube1P5) && !tubeHolderType.equals(A8kTubeHolderType.BulletTube0P5)) {
+			throw AppException.of(A8kEcode.APPE_TUBE_HOLDER_TYPE_IS_NOT_SUPPORT, "请使用子弹头1.5ml或者子弹头0.5ml试管架");
 		}
 
 		for (int i = 0; i < tubeHolderSetting.tubeSettings.length; i++) {

src/main/java/a8k/app/service/background/TemperatureCtrlService.java

@@ -5,6 +5,7 @@ import a8k.OS;
 import a8k.app.hardware.A8kChannelStateMgr;
 import a8k.app.hardware.driver.TemperatureControlDriver;
 import a8k.app.service.setting.AppSettingsMgrService;
+import a8k.app.service.statemgr.GStateMgrService;
 import a8k.app.teststate.VirtualDevice;
 import a8k.app.type.error.AppError;
 import a8k.app.type.exception.AppException;
@@ -27,6 +28,7 @@ public class TemperatureCtrlService {
 	private final AppSettingsMgrService    appSettingsMgrService;
 	private final AppEventBusService       eventBus;
 	private final A8kChannelStateMgr       a8kChannelStateMgr;
+	private final GStateMgrService         gStateMgrService;
 
 
 	Integer targetIncubatorTemperatureSetVal = null;
@@ -62,7 +64,17 @@ public class TemperatureCtrlService {
 					continue;
 				}
 
-				if(!a8kChannelStateMgr.isCanBusConnected()){
+				if (!a8kChannelStateMgr.isCanBusConnected()) {
+					OS.forceSleep(1000);
+					continue;
+				}
+
+				if (!gStateMgrService.isDeviceInited()) {
+					OS.forceSleep(1000);
+					continue;
+				}
+
+				if (!gStateMgrService.getBoardParamInited()) {
 					OS.forceSleep(1000);
 					continue;
 				}
@@ -119,7 +131,6 @@ public class TemperatureCtrlService {
 	}
 
 
-
 	private void startCtrlTemperature(Integer incubatorTemperature, Integer platesBoxTemperature) throws AppException {
 		log.info("start control incubatorTemperature: {},platesBoxTemperature: {}", incubatorTemperature, platesBoxTemperature);
 		temperatureControlDriver.startCtrlTemperature(incubatorTemperature.doubleValue(), platesBoxTemperature.doubleValue());

src/main/java/a8k/app/service/lowerctrl/LiquidOperationCtrlService.java

@@ -32,9 +32,9 @@ import org.springframework.stereotype.Component;
 public class LiquidOperationCtrlService {
 	static public final Integer helicalPitch = 80;
 
-	static public final Integer LLD_ZMOTOR_VMAX   = 50 * 80 / helicalPitch;
+	static public final Integer LLD_ZMOTOR_VMAX   = 60 * 80 / helicalPitch;
 	static public final Integer LLD_GUN_PUMP_VMAX = 40;
-	static public final Integer LLD_P_THRESHOLD   = 50;//30时候可行，将其调整到50,增加容错性
+	static public final Integer LLD_P_THRESHOLD   = 60;//30时候可行，将其调整到50,增加容错性
 
 	static public final Integer ASPIRATE_PUMP_VMAX = 100;
 	static public final Double  ASPIRATE_PRE_TAKE  = 20.0;//	吸取前预吸量
@@ -45,7 +45,7 @@ public class LiquidOperationCtrlService {
 	static public final Integer BLOOD_TUBE_LLF_VEL      = 25 * 80 / helicalPitch;//	<全血试管>液面跟随速度
 	static public final Integer MINI_TUBE_LLF_VEL       = 25 * 80 / helicalPitch;//	<迷你试管>液面跟随速度
 	static public final Integer MINI_BLOOD_LLF_VEL      = 25 * 80 / helicalPitch;//	<阳普管>液面跟随速度
-	static public final Integer BULLET_TUBE_1P5_LLF_VEL = 25 * 80 / helicalPitch;//	<子弹头试管1.5ML>液面跟随速度
+	static public final Integer BULLET_TUBE_1P5_LLF_VEL = 30 * 80 / helicalPitch;//	<子弹头试管1.5ML>液面跟随速度
 	static public final Integer BULLET_TUBE_0P5_LLF_VEL = 25 * 80 / helicalPitch;//	<子弹头试管0.5ML>液面跟随速度
 	static public final Integer STOOL_TEST_TUBE_LLF_VEL = 25 * 80 / helicalPitch;//	<粪便试管>液面跟随速度
 	static public final Integer LARGE_BS_BOTTLE_LLF_VEL = 10 * 80 / helicalPitch;