update

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

@@ -17,12 +17,12 @@ import a8k.app.service.data.ProjInfoMgrService;
 import a8k.app.service.data.ReactionRecordMgrService;
 import a8k.app.service.lowerctrl.*;
 import a8k.app.service.mainctrl.TubeHolderSettingMgrService;
+import a8k.app.service.module.LiquidOperationCtrlModule;
 import a8k.app.service.module.TipMgrModule;
 import a8k.app.service.statemgr.*;
 import a8k.app.service.utils.ProjInfoUtils;
 import a8k.app.service.utils.UISender;
 import a8k.app.type.a8k.A8kTubeHolderType;
-import a8k.app.type.a8k.BloodType;
 import a8k.app.type.a8k.ConsumableType;
 import a8k.app.type.a8k.opt.A8kOptType;
 import a8k.app.type.a8k.opt.OptScanResult;
@@ -99,7 +99,7 @@ public class ExperimentConsistencyTestingService {
 	final private OptScanModuleCtrlService         optScanModuleCtrlService;
 	final private PlateBoxCtrlService              plateBoxCtrlService;
 	final private TurnableMoveCtrlService   turnableMoveCtrlService;
-	final private LiquidOperationCtrlService       liquidOperationCtrlService;
+	final private LiquidOperationCtrlModule liquidOperationCtrlModule;
 	final private HbotMoveExCtrlService     hbotMoveExCtrlService;
 	private final OptModuleDriver                  optModuleDriver;
 	private final HbotMoveCtrlService              hbotMoveCtrlService;
@@ -397,10 +397,10 @@ public class ExperimentConsistencyTestingService {
 
 		docmd("样本处理", () -> {
 			try {
-				liquidOperationCtrlService.setProjContext(projBuildinInfo, projExtInfoCard);
+				liquidOperationCtrlModule.setProjContext(projBuildinInfo, projExtInfoCard);
 				var preProcessPos = new PreReactionPos(ConsumableType.SmallBottleBuffer, consumableInfo.group, consumableInfo.pos);
 				//取tip
-				tipMgrModule.takeTip(() -> !actionExecutor.isStopping());
+				tipMgrModule.tryTakeTip(() -> !actionExecutor.isStopping());
 				actionExecutor.sleep(1);
 				//刺破缓冲液
 				hbotMoveExCtrlService.moveToLittleBufferPiercePos(consumableInfo.group, consumableInfo.pos);
@@ -408,10 +408,11 @@ public class ExperimentConsistencyTestingService {
 				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");
-				liquidOperationCtrlService.takeSample(samplePos, preProcessPos, takeSampleUl);
+				liquidOperationCtrlModule.takeSampleToPreReactionPos(samplePos, preProcessPos, takeSampleUl);
 				actionExecutor.sleep(1);
 				//取混合液到预反应位
-				liquidOperationCtrlService.takePreReactionLiquidToReation(preProcessPos);
+				liquidOperationCtrlModule.takePreReactionLiquid(preProcessPos);
+				liquidOperationCtrlModule.dropLiquidToReactionPlate();
 				actionExecutor.sleep(1);
 				incubationPlateStateMgrService.startIncubating(freeIncubationPos, System.currentTimeMillis(), projBuildinInfo.reactionPlateIncubationTimeMin * 60);
 				actionExecutor.sleep(1);

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

@@ -3,10 +3,10 @@ package a8k.app.engineer.service.qatest;
 import a8k.app.engineer.service.executor.EngineerModeActionExecutor;
 import a8k.app.engineer.service.utils.BeforeDoEngineerActionChecker;
 import a8k.app.service.lowerctrl.*;
+import a8k.app.service.module.LiquidOperationCtrlModule;
 import a8k.app.service.module.TipMgrModule;
 import a8k.app.service.param.exparam.HbotConsumableExParamMgr;
 import a8k.app.service.utils.UISender;
-import a8k.app.type.a8k.*;
 import a8k.app.type.exception.AppException;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -34,7 +34,7 @@ public class LiquidAbsorptionAndDistributionTestService {
 	/*
 	 * 状态管理器
 	 */
-	final private LiquidOperationCtrlService liquidOperationCtrlService;
+	final private LiquidOperationCtrlModule liquidOperationCtrlModule;
 	final private HbotMoveExCtrlService     hbotMoveExCtrlService;
 	final private TipMgrModule               tipMgrModule;
 

src/main/java/a8k/app/hardware/driver/PipetteCtrlDriverV2.java

@@ -13,6 +13,7 @@ import a8k.app.hardware.type.pipette_module.cfg.*;
 import a8k.app.hardware.type.pipette_module.param.AspirationParam;
 import a8k.app.hardware.type.pipette_module.param.DistribuAllParam;
 import a8k.app.type.exception.AppException;
+import a8k.app.utils.ZJsonHelper;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -306,8 +307,8 @@ public class PipetteCtrlDriverV2 {
 		waitForMod(CmdId.pipette_pump_init_device);
 	}
 
-	public void initPumpDeviceBlock(PlatformInfoIndex platInfoCpyId) throws AppException {
-		initPumpDeviceBlock(platInfoCpyId.toInteger());
+	public void initPumpDeviceBlock() throws AppException {
+		initPumpDeviceBlock(-1);
 	}
 
 	public void takeTipBlock() throws AppException {
@@ -335,6 +336,7 @@ public class PipetteCtrlDriverV2 {
 	}
 
 	public void aspirateSetParam(AspirationParam param) throws AppException {
+		log.info("aspirateSetParam :\n{}", ZJsonHelper.objToPrettyJson(param));
 		param.serialization(this::aspirateSetParam);
 	}
 
@@ -343,6 +345,29 @@ public class PipetteCtrlDriverV2 {
 		waitForMod(CmdId.pipette_pump_aspirate);
 	}
 
+	public void aspirateBlock(AspirationParam aspirationParam) throws AppException {
+		aspirateSetParam(aspirationParam);
+		aspirateBlock();
+	}
+
+	public void distributeAllSetParam(DistribuAllParamId param, Integer val) throws AppException {
+		callcmd(MId.PipetteMod, CmdId.pipette_pump_distribu_all_set_param, param.toInteger(), val);
+	}
+
+	public void distributeAllSetParam(DistribuAllParam param) throws AppException {
+		log.info("distributeAllSetParam :\n{}", ZJsonHelper.objToPrettyJson(param));
+		param.serialization(this::distributeAllSetParam);
+	}
+
+	public void distributeAllBlock() throws AppException {
+		callcmd(MId.PipetteMod, CmdId.pipette_pump_distribu_all);
+		waitForMod(CmdId.pipette_pump_distribu_all);
+	}
+
+	public void distributeAllBlock(DistribuAllParam distribuAllParam) throws AppException {
+		distributeAllSetParam(distribuAllParam);
+		distributeAllBlock();
+	}
 
 	public void pipetteTestPumpMoveToX100nl(Integer x100nl, Integer vcfgIndex) throws AppException {
 		callcmd(MId.PipetteMod, CmdId.pipette_test_pump_move_to_x100nl, x100nl, vcfgIndex);
@@ -395,19 +420,6 @@ public class PipetteCtrlDriverV2 {
 	}
 
 
-	public void pipettePumpDistributeAllSetParam(DistribuAllParamId param, Integer val) throws AppException {
-		callcmd(MId.PipetteMod, CmdId.pipette_pump_distribu_all_set_param, param.toInteger(), val);
-	}
-
-	public void pipettePumpDistributeAllSetParam(DistribuAllParam param) throws AppException {
-		param.serialization(this::pipettePumpDistributeAllSetParam);
-	}
-
-	public void pipettePumpDistributeAllBlock() throws AppException {
-		callcmd(MId.PipetteMod, CmdId.pipette_pump_distribu_all);
-		waitForMod(CmdId.pipette_pump_distribu_all);
-	}
-
 	public Integer readState(PipetteStateIndex index) throws AppException {
 		return callcmd(MId.PipetteMod, CmdId.pipette_read_state, index.toInteger()).getContentI32(0);
 	}

src/main/java/a8k/app/hardware/type/pipette_module/DistribuType.java

@@ -0,0 +1,11 @@
+package a8k.app.hardware.type.pipette_module;
+
+public enum DistribuType {
+	JET_DIST, //液面上分配
+	SURFACE_DIST, //液体表面分配
+	;
+
+	public Integer toInteger() {
+		return this.ordinal();
+	}
+}

src/main/java/a8k/app/hardware/type/pipette_module/cfg/PipetteCommonConfigIndex.java

@@ -2,6 +2,7 @@ package a8k.app.hardware.type.pipette_module.cfg;
 
 public enum PipetteCommonConfigIndex {
 	pressureRecordEnable,
+	platformInfoCpyid,
 	mark;
 
 	public Integer toInteger() {

src/main/java/a8k/app/hardware/type/pipette_module/cfgbean/PipetteCommonConfig.java

@@ -24,6 +24,7 @@ public class PipetteCommonConfig {
 	// lld
 	//
 	public Integer pressureRecordEnable = 0; // 是否记录压力数据
+	public Integer platformInfoCpyid    = 0; // 平台信息配置索引,当调用initPumpDevice时，如果传入的参数为-1,则使用platformInfoCpyid
 	public Integer mark                 = 0; // 结构体最后一个数值，设置9973，用于保证单片机端和java端均正确更新了枚举
 
 

src/main/java/a8k/app/hardware/type/pipette_module/cpyidx/ContainerCpyId.java

@@ -11,6 +11,7 @@ public enum ContainerCpyId {
 	BulletTube1P5,//子弹头1.5ml
 	BulletTube0P5,//子弹头0.5ml
 	StoolTestTube,//粪便试管
+	ReactionPlate,
 	NotSet,
 	;
 

src/main/java/a8k/app/hardware/type/pipette_module/cpyidx/LiquidConfigCpyIdx.java

@@ -37,6 +37,8 @@ public enum LiquidConfigCpyIdx {
 	}
 
 	public Integer toInteger() {
+		if (this.equals(NotSet))
+			return -1;
 		return ordinal();
 	}
 }

src/main/java/a8k/app/hardware/type/pipette_module/cpyidx/PlatInfoCpyIdx.java

@@ -2,5 +2,25 @@ package a8k.app.hardware.type.pipette_module.cpyidx;
 
 public enum PlatInfoCpyIdx {
 	Default,
-	TestTip,
+	TransparentTip,
+	NotSet,
+	;
+
+	public Integer toInteger() {
+		if (this.equals(NotSet))
+			return -1;
+		return ordinal();
+	}
+
+	static public PlatInfoCpyIdx of(Integer val) {
+		if (val < 0)
+			return NotSet;
+		for (PlatInfoCpyIdx idx : PlatInfoCpyIdx.values()) {
+			if (idx.ordinal() == val) {
+				return idx;
+			}
+		}
+
+		return NotSet;
+	}
 }

src/main/java/a8k/app/hardware/type/pipette_module/param/AspirationParam.java

@@ -1,6 +1,8 @@
 package a8k.app.hardware.type.pipette_module.param;
 
 import a8k.app.hardware.type.pipette_module.AspirationParamId;
+import a8k.app.hardware.type.pipette_module.cpyidx.ContainerCpyId;
+import a8k.app.hardware.type.pipette_module.cpyidx.LiquidConfigCpyIdx;
 import a8k.app.type.exception.AppException;
 
 public class AspirationParam {
@@ -38,6 +40,34 @@ public class AspirationParam {
 	public Integer mixVolume          = 0;
 	public Integer mixTimes           = 0;
 
+	public AspirationParam() {}
+
+	public AspirationParam(Integer volumex100nl,
+			Integer containerPos,
+			ContainerCpyId containerInfoCpyId,
+			LiquidConfigCpyIdx liquidCfgIdx,
+			Integer aspirationMode,
+			Integer lldEnable,
+			Integer lldType,
+			Integer lldEnableProtect,
+			Integer mixLlfEnable,
+			Integer llfEnable,
+			Integer mixVolume,
+			Integer mixTimes) {
+		this.volume             = volumex100nl;
+		this.containerPos       = containerPos;
+		this.containerInfoCpyId = containerInfoCpyId.toInteger();
+		this.liquidCfgIdx       = liquidCfgIdx.toInteger();
+		this.aspirationMode     = aspirationMode;
+		this.lldEnable          = lldEnable;
+		this.lldType            = lldType;
+		this.lldEnableProtect   = lldEnableProtect;
+		this.mixLlfEnable       = mixLlfEnable;
+		this.llfEnable          = llfEnable;
+		this.mixVolume          = mixVolume;
+		this.mixTimes           = mixTimes;
+	}
+
 	@FunctionalInterface
 	public interface AssignObjectItemFn {
 		Integer assignVal(AspirationParamId index) throws AppException;

src/main/java/a8k/app/hardware/type/pipette_module/param/DistribuAllParam.java

@@ -1,6 +1,9 @@
 package a8k.app.hardware.type.pipette_module.param;
 
 import a8k.app.hardware.type.pipette_module.DistribuAllParamId;
+import a8k.app.hardware.type.pipette_module.DistribuType;
+import a8k.app.hardware.type.pipette_module.cpyidx.ContainerCpyId;
+import a8k.app.hardware.type.pipette_module.cpyidx.LiquidConfigCpyIdx;
 import a8k.app.type.exception.AppException;
 
 public class DistribuAllParam {
@@ -31,6 +34,28 @@ public class DistribuAllParam {
 	//
 	public Integer zmAutoMoveToZero = 0; // zm自动归零
 
+	public DistribuAllParam() {
+		// 默认构造函数
+	}
+
+	public DistribuAllParam(Integer containerPos,
+			ContainerCpyId destContainerCpyid,
+			LiquidConfigCpyIdx destLiquidCfgIndex,
+			Boolean destContainerIsEmpty,
+			DistribuType distribuType,
+			Integer mixVolume,
+			Integer mixTimes,
+			Boolean zmAutoMoveToZero) {
+		this.containerPos         = containerPos;
+		this.destContainerCpyid   = destContainerCpyid.toInteger();
+		this.destContainerIsEmpty = destContainerIsEmpty ? 1 : 0;
+		this.destLiquidCfgIndex   = destLiquidCfgIndex.toInteger();
+		this.distribuType         = distribuType.toInteger();
+		this.mixVolume            = mixVolume;
+		this.mixTimes             = mixTimes;
+		this.zmAutoMoveToZero     = zmAutoMoveToZero ? 1 : 0;
+	}
+
 	@FunctionalInterface
 	public interface SerializationObjectItemFn {
 		void serializeObject(DistribuAllParamId index, Integer itermVal) throws AppException;

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

@@ -27,6 +27,8 @@ import java.util.List;
 public class DeviceMoveToZeroCtrlService {
 
 
+	private final PipetteCtrlDriverV2 pipetteCtrlDriverV2;
+
 	public static class Checkpoint {
 		public enum Type {
 			CHECK_TUBE_XCHANNEL_IS_EMPTY,//入料通道是否为空
@@ -86,7 +88,6 @@ public class DeviceMoveToZeroCtrlService {
 	private final PipetteCtrlDriverV2 pipetteCtrlDriver;
 
 
-
 	//
 	//	ExDriver
 	//
@@ -241,8 +242,9 @@ public class DeviceMoveToZeroCtrlService {
 		//弹出试管架
 		tubeFeedingCtrlService.ejectTubeHolder();
 		tubeFeedingCtrlService.moveTubeRackMoveToEnterPos();
-		//丢弃tip头
-		hbotMoveExCtrlService.initPipetterGun();
+		//初始化tip
+		hbotMoveExCtrlService.moveToDropTipXYPos();
+		pipetteCtrlDriverV2.initPumpDeviceBlock();
 		//hbot快速归零
 		hbotMoveExCtrlService.moveQuickToZero();
 

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

@@ -7,8 +7,6 @@ import a8k.app.type.a8k.ConsumableGroup;
 import a8k.app.type.a8k.pos.TipGroupPos;
 import a8k.app.type.a8k.Pos2d;
 import a8k.app.type.a8k.Pos3d;
-import a8k.app.constant.AppConstant;
-import a8k.app.hardware.type.A8kEcode;
 import a8k.app.hardware.driver.HbotDriver;
 import a8k.app.service.param.hbotpos.HbotTipPosMgr;
 import a8k.app.service.param.exparam.HbotConsumableExParamMgr;
@@ -71,7 +69,6 @@ public class HbotMoveExCtrlService {
 		if (nowPos.z.equals(observePos.z)) {
 			hbotDriver.moveToBlock(observePos.x - GearBacklashConstant.HBOT_GEAR_BACKLASH, observePos.y);
 			hbotDriver.moveToBlock(observePos.x, observePos.y);
-			return;
 		} else {
 			hbotMoveCtrlService.hbotMoveTo(observePos);
 		}
@@ -79,13 +76,11 @@ public class HbotMoveExCtrlService {
 
 
 
-
-	public void initPipetterGun() throws AppException {
+	public void moveToDropTipPos() throws AppException {
+		log.info("moveToDropTipPos");
 		hbotMoveCtrlService.hbotMoveTo(hbotTipPosMgr.getDropTipPos());
-		pipetteCtrlDriver.initPumpDeviceBlock(0);
 	}
 
-
 	//*************************************************************************************************
 	//
 	//*************************************************************************************************
@@ -97,7 +92,7 @@ public class HbotMoveExCtrlService {
 
 	public void initializePipette() throws AppException {
 		log.info("initializePipette");
-		pipetteCtrlDriver.initPumpDeviceBlock(0);
+		pipetteCtrlDriver.initPumpDeviceBlock();
 	}
 
 
@@ -136,7 +131,7 @@ public class HbotMoveExCtrlService {
 
 
 	public void moveToProbeSubstanceSamplePos(ConsumableGroup group, Integer off) throws AppException {
-		hbotMoveCtrlService.hbotMoveTo(hbotConsumableExParamMgr.getProbeSubstanceSamplePos(group, off));
+		hbotMoveCtrlService.hbotMoveTo(hbotConsumableExParamMgr.getProbeSubstanceContainerPos(group, off));
 	}
 
 	public void moveToProbeSubstancePiercePos(ConsumableGroup group, Integer off) throws AppException {
@@ -194,13 +189,4 @@ public class HbotMoveExCtrlService {
 		return pos;
 	}
 
-
-	public Boolean isPosEq(Pos3d pos) throws AppException {
-		Pos3d curPos = getPos();
-		if (Math.abs(curPos.x - pos.x) < 5 && Math.abs(curPos.y - pos.y) < 5 && Math.abs(curPos.z - pos.z) < 2) {
-			return true;
-		}
-		return false;
-	}
-
 }

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

@@ -1,269 +0,0 @@
-package a8k.app.service.lowerctrl;
-
-
-import a8k.app.dao.type.combination.ProjBuildinInfo;
-import a8k.app.dao.type.db.ProjExtInfoCard;
-import a8k.app.hardware.driver.PipetteCtrlDriverV2;
-import a8k.app.hardware.type.A8kEcode;
-import a8k.app.service.param.exparam.HbotConsumableExParamMgr;
-import a8k.app.service.param.hbotpos.HbotSamplePosParamMgr;
-import a8k.app.service.statemgr.ConsumablesMgrService;
-import a8k.app.service.statemgr.GStateMgrService;
-import a8k.app.service.utils.ZAppChecker;
-import a8k.app.type.DeviceRunMode;
-import a8k.app.type.JudgeFn;
-import a8k.app.type.a8k.ConsumableType;
-import a8k.app.type.a8k.Pos3d;
-import a8k.app.type.a8k.pos.LargeBufferPos;
-import a8k.app.type.a8k.pos.PreReactionPos;
-import a8k.app.type.a8k.pos.TipGroupPos;
-import a8k.app.type.a8k.pos.TipPos;
-import a8k.app.type.exception.AppException;
-import a8k.app.type.param.type.A8kSamplePos;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-@Component
-@Slf4j
-@RequiredArgsConstructor
-public class LiquidOperationCtrlService {
-	static public final Integer MIX_VOLUME_UL = 200;
-
-
-	private final GStateMgrService gstate;
-
-	/*
-	 * CTRL-SERVICE
-	 */
-	private final HbotMoveExCtrlService hbotMoveExCtrlService;
-	private final PipetteCtrlDriverV2   pipetteCtrlDriverV2;
-
-	/*
-	 * PARAM-MGR
-	 */
-	private final HbotConsumableExParamMgr hbotConsumableExParamMgr;
-	/**
-	 * StateMgr
-	 */
-	private final ConsumablesMgrService    consumablesMgrService;
-	private final HbotSamplePosParamMgr    hbotSamplePosParamMgr;
-
-
-	ProjBuildinInfo projBuildinInfo;
-	ProjExtInfoCard projExtInfo;
-
-
-	synchronized public void setProjContext(ProjBuildinInfo projBuildinInfo, ProjExtInfoCard projExtInfo) {
-		this.projBuildinInfo = projBuildinInfo;
-		this.projExtInfo     = projExtInfo;
-	}
-
-
-	/**
-	 * 取大瓶缓冲液到探测物质位置
-	 * @param from 大瓶缓冲液
-	 * @param topos     探测物质位置
-	 * @param ul        吸取量
-	 */
-	public void takeLargeBottleBufferLiquidToProbeSubstance(LargeBufferPos from, PreReactionPos topos, Integer ul) throws AppException {
-		// 取TIP
-		//		forceTakeTip();
-
-		// 检查是否有TIP
-		ZAppChecker.check(pipetteCtrlDriverV2.readTipState(), A8kEcode.CODEERROR, "未检测到TIP");
-		//		Pos3d   largeBottleEndPos = hbotConsumableExParamMgr.getLargeBufferSamplePosEnd(from.group);
-		//		Pos3d   largeBottlePos    = hbotConsumableExParamMgr.getLargeBufferSamplePos(from.group);
-		Integer liquidLevel = 0;
-
-
-		//
-		//	刺破探测物质
-		//
-		Pos3d piercePos = hbotConsumableExParamMgr.getProbeSubstancePiercePos(topos.group, topos.index);
-		hbotMoveExCtrlService.moveTo(piercePos);
-		pipetteCtrlDriverV2.zMotorMoveToBlock(0);
-
-
-		//
-		//	移动到取样位
-		//
-		//		hbotMoveExCtrlService.moveToXY(largeBottlePos);
-
-		//
-		//取样
-		//
-		//清空tip中的液体和空气，同时预先吸入部分空气，以便后续清空由于lld吸入的液体，提高lld的准确性
-		{
-			//TODO: 取样
-
-		}
-		//		lddprepare();
-		//		ldd(largeBottlePos.z, largeBottleEndPos.z, LLD_P_THRESHOLD);
-		//		if (!pipetteCtrlDriverV2.lldIsDetectLiquid() && gstate.isInMode(DeviceRunMode.RealMode)) {
-		//			throw AppException.of(A8kEcode.APPE_TAKE_LARGE_BUFFER_LIQUID_FAIL);
-		//		}
-		//		liquidLevel = pipetteCtrlDriverV2.getReg(PipetteRegIndex.kreg_pipette_zm_pos);
-		//		pipetteCtrlDriverV2.zMotorMoveToBlock(0);
-		//		pumpMoveTo(8000, 0.0);
-		//
-		//		//
-		//		//取样
-		//		//
-		//		pipetteCtrlDriverV2.zMotorMoveToBlock(liquidLevel);
-		//		if (ul < 100) {
-		//			pumpMoveTo(8000, 50.0);//预先吸入部分空气
-		//		} else {
-		//			pumpMoveTo(8000, 25.0);//预先吸入部分空气
-		//		}
-		//
-		//		aspirate(largeBottleEndPos.z, pipetteGunExParamMgr.getLargeBSBottleLlfVel(), ul * 1.0);
-		//		pipetteCtrlDriverV2.zMotorMoveToBlock(0);
-
-		//
-		//	移动到探测物质的位置
-		//
-		Pos3d toCPos = hbotConsumableExParamMgr.getProbeSubstanceSamplePos(topos.group, topos.index);
-		hbotMoveExCtrlService.moveTo(toCPos);
-		//		pumpMoveTo(8000, 0.0);
-		pipetteCtrlDriverV2.zMotorMoveToBlock(0);
-
-		//
-		//	丢弃TIP
-		//
-		hbotMoveExCtrlService.initPipetterGun();
-		hbotMoveExCtrlService.moveQuickToZero();
-	}
-
-	private Pos3d getPreReactionPos(PreReactionPos pos) {
-		Pos3d toCPos = null;
-		if (pos.type.equals(ConsumableType.ProbeSubstance)) {
-			toCPos = hbotConsumableExParamMgr.getProbeSubstanceSamplePos(pos.group, pos.index);
-		} else {
-			toCPos = hbotConsumableExParamMgr.getLittleBufferSamplePos(pos.group, pos.index);
-		}
-		return toCPos;
-	}
-
-	/**
-	 * 取样本
-	 * @param from 样本位置
-	 * @param ul   吸取量
-	 * @throws AppException 异常
-	 */
-	public void takeSampleOnly(A8kSamplePos from, Integer ul) throws AppException {
-		log.info("takeSampleOnly: from={},ul={}ul", from, ul);
-
-		// 取TIP
-		//		forceTakeTip();
-		ZAppChecker.check(pipetteCtrlDriverV2.readTipState(), A8kEcode.CODEERROR, "未检测到TIP");
-
-		//
-		//	取样位
-		//
-
-		// 取样
-		//		Pos3d   sampleStartPos = hbotSamplePosParamMgr.getSampleStartPos(from);
-		//		Integer sampleEndZPos  = hbotSamplePosParamMgr.getSampleEndPos(from);
-		Integer liquidLevel = 0;
-		//	移动到取样位
-		//		hbotMoveExCtrlService.moveToXY(sampleStartPos);
-
-		//TODO:取样
-		{
-
-		}
-		//lld
-		//清空tip中的液体和空气，同时预先吸入部分空气，以便后续清空由于lld吸入的液体，提高lld的准确性
-		//		lddprepare();
-		//		ldd(sampleStartPos.z, sampleEndZPos, LLD_P_THRESHOLD);
-		//		if (!pipetteCtrlDriverV2.lldIsDetectLiquid() && gstate.isInMode(DeviceRunMode.RealMode)) {
-		//			throw AppException.of(A8kEcode.APPE_TAKE_SAMPLE_FAIL);
-		//		}
-		//
-		//		//获取当前液面高度
-		//		liquidLevel = pipetteCtrlDriverV2.getReg(PipetteRegIndex.kreg_pipette_zm_pos);
-		//		liquidLevel += 10;//保证液面高度
-		//
-		//		//取样准备
-		//		pipetteCtrlDriverV2.zMotorMoveToBlock(sampleStartPos.z); //回到0
-		//		pumpMoveTo(8000, 0.0); //排空
-		//		pumpMoveTo(PRE_ASPIRATE_PUMP_VMAX, ASPIRATE_PRE_TAKE); //预先吸入部分空气
-		//
-		//		//取样
-		//		pipetteCtrlDriverV2.zMotorMoveToBlock(liquidLevel);
-		//		aspirate(sampleEndZPos, pipetteGunExParamMgr.getSampleLLFVel(ul * 1.0, from), ul * 1.0);
-		//		pipetteCtrlDriverV2.zMotorMoveToBlock(0);
-
-
-	}
-
-
-	/**
-	 * 取样本到探测物质
-	 * @param from 样本位置
-	 * @param pos  预先反应位置P
-	 * @param ul   吸取量
-	 * @throws AppException 异常
-	 */
-	public void takeSample(A8kSamplePos from, PreReactionPos pos, Integer ul) throws AppException {
-		log.info("takeSampleToPreReactionPos: from={}, pos={}, ul={}ul", from, pos, ul);
-
-		takeSampleOnly(from, ul);
-
-
-		//
-		// 移动到反应位
-		//
-		log.info("move to pre reaction pos: {}", pos);
-		hbotMoveExCtrlService.moveTo(getPreReactionPos(pos));
-
-		Integer shakeUl    = MIX_VOLUME_UL;
-		Integer shakeTimes = 5;
-		if (projBuildinInfo != null) {
-			shakeUl    = projBuildinInfo.mixedLiquidMixingVolUl;
-			shakeTimes = projBuildinInfo.mixedLiquidMixingTimes;
-		}
-		//TODO: 吐样&&摇匀
-		{
-
-		}
-
-		//z轴回0
-		pipetteCtrlDriverV2.zMotorMoveToZeroPointQuickBlock();
-	}
-
-	public void pirceLittleBuffer(PreReactionPos pos) throws AppException {
-		//		forceTakeTip();
-
-		hbotMoveExCtrlService.moveToLittleBufferPiercePos(pos.group, pos.index);
-		pipetteCtrlDriverV2.zMotorMoveToBlock(0);
-	}
-
-
-	/**
-	 * 取反应液到反应板上
-	 * @param pos 反应板位置
-	 * @throws AppException 异常
-	 */
-	public void takePreReactionLiquidToReation(PreReactionPos pos) throws AppException {
-		log.info("takePreReactionLiquidToReactionPos: from pos={}", pos);
-		//		forceTakeTip();
-		//		Pos3d reactionPos = getPreReactionPos(pos);
-		//
-		//		hbotMoveExCtrlService.moveToXY(reactionPos);
-		//		pipetteCtrlDriverV2.zMotorMoveByBlock(0);
-		//		makeReserveAir(100);
-		//
-		//		hbotMoveExCtrlService.moveToZ(reactionPos);
-		//		aspirate(reactionPos.z, 0, (double) REACTION_VOLUME_UL);
-		//
-		//		hbotMoveExCtrlService.moveToDropLiquidPos();
-		//		pumpMoveTo(8000, 0.0);
-		//
-		//		hbotMoveExCtrlService.initPipetterGun();
-		//		hbotMoveExCtrlService.moveQuickToZero();
-	}
-
-
-}

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

@@ -2,14 +2,11 @@ package a8k.app.service.mainctrl.mainflowctrl;
 
 import a8k.OS;
 import a8k.SpringBootBeanUtil;
-import a8k.app.engineer.service.qatest.EngineerModeActionCtrlService;
 import a8k.app.engineer.service.state.EngineerModeStateMgrService;
 import a8k.app.engineer.service.type.EngineerWorkState;
 import a8k.app.service.module.TipMgrModule;
 import a8k.app.type.DeviceRunMode;
 //import a8k.app.a8ktype.appevent.A8kErrorsPromptEvent;
-import a8k.app.type.a8k.pos.TipGroupPos;
-import a8k.app.type.a8k.pos.TipPos;
 import a8k.app.type.a8k.state.enumtype.A8kWorkTaskType;
 import a8k.app.type.error.AECodeError;
 import a8k.app.type.error.AppError;
@@ -20,14 +17,12 @@ import a8k.app.hardware.driver.ModuleEnableCtrlDriver;
 import a8k.app.hardware.type.A8kEcode;
 import a8k.app.service.background.AppEventBusService;
 import a8k.app.service.utils.UISender;
-import a8k.app.service.lowerctrl.LiquidOperationCtrlService;
 import a8k.app.service.mainctrl.TubeHolderSettingMgrService;
 import a8k.app.service.mainctrl.mainflowctrl.base.*;
 import a8k.app.service.statemgr.ConsumablesMgrService;
 import a8k.app.service.statemgr.DeviceWorkStateMgrService;
 import a8k.app.service.statemgr.GStateMgrService;
 import a8k.app.utils.ZStringUtils;
-import jakarta.annotation.Resource;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.jetbrains.annotations.NotNull;

src/main/java/a8k/app/service/mainctrl/mainflowctrl/action/AC41ProcessSample.java

@@ -1,5 +1,6 @@
 package a8k.app.service.mainctrl.mainflowctrl.action;
 
+import a8k.app.service.module.LiquidOperationCtrlModule;
 import a8k.app.service.module.TipMgrModule;
 import a8k.app.type.a8k.A8kTubeHolderType;
 import a8k.app.type.a8k.pos.IncubatorPos;
@@ -57,7 +58,7 @@ public class AC41ProcessSample extends A8kActionTask {
 	@Resource
 	TurnableMoveCtrlService   turnableMoveCtrlService;
 	@Resource
-	LiquidOperationCtrlService       liquidOperationCtrlService;
+	LiquidOperationCtrlModule liquidOperationCtrlModule;
 	@Resource
 	OptScanModuleCtrlService  optScanModuleCtrlService;
 	@Resource
@@ -315,7 +316,7 @@ public class AC41ProcessSample extends A8kActionTask {
 	void preProcessSample(ProjectTaskContext cxt) throws AppException {
 		//取探测物质
 		A8kReactionFlowType type = cxt.getProjBuildinInfo().reactionFlowType;
-		liquidOperationCtrlService.setProjContext(cxt.projBuildinInfo, cxt.projExtInfoCard);
+		liquidOperationCtrlModule.setProjContext(cxt.projBuildinInfo, cxt.projExtInfoCard);
 
 
 		//
@@ -323,7 +324,7 @@ public class AC41ProcessSample extends A8kActionTask {
 		//
 		if (type.equals(A8kReactionFlowType.SampleAndBSAndProbeSubstance)) {
 			UISender.txInfoMsg(log, "取大瓶缓冲液到探测物质中");
-			liquidOperationCtrlService.takeLargeBottleBufferLiquidToProbeSubstance( //
+			liquidOperationCtrlModule.takeLargeBottleBufferLiquidToProbeSubstance( //
 					cxt.getLargeBufferPos(), cxt.getPreReactionPos(), cxt.getTakeLargeBSVolume());
 
 		}
@@ -347,7 +348,7 @@ public class AC41ProcessSample extends A8kActionTask {
 	void doSampleProcess(ProjectTaskContext cxt, Boolean finalCxt) throws AppException, ZAppInterruptException {
 		log.info("开始处理样本 cxtid:{} sampleId:{}", cxt.cxtId, cxt.sampleInfo.sampleId);
 		A8kReactionFlowType type = cxt.getProjBuildinInfo().reactionFlowType;
-		liquidOperationCtrlService.setProjContext(cxt.projBuildinInfo, cxt.projExtInfoCard);
+		liquidOperationCtrlModule.setProjContext(cxt.projBuildinInfo, cxt.projExtInfoCard);
 		//	!!! 等待样本准备完成 !!!
 
 		//
@@ -355,14 +356,14 @@ public class AC41ProcessSample extends A8kActionTask {
 		//
 		if (type.equals(A8kReactionFlowType.SampleAndBS)) {
 			UISender.txInfoMsg(log, "刺破小瓶缓冲液");
-			liquidOperationCtrlService.pirceLittleBuffer(cxt.getPreReactionPos());
+			liquidOperationCtrlModule.pirceLittleBuffer(cxt.getPreReactionPos());
 
 			UISender.txInfoMsg(log, "取样");
-			liquidOperationCtrlService.takeSample(cxt.getSamplePos(), cxt.getPreReactionPos(), cxt.getSampleVol());
+			liquidOperationCtrlModule.takeSampleToPreReactionPos(cxt.getSamplePos(), cxt.getPreReactionPos(), cxt.getSampleVol());
 
 		} else if (type.equals(A8kReactionFlowType.SampleAndBSAndProbeSubstance)) {
 			UISender.txInfoMsg(log, "取样");
-			liquidOperationCtrlService.takeSample(cxt.getSamplePos(), cxt.getPreReactionPos(), cxt.getSampleVol());
+			liquidOperationCtrlModule.takeSampleToPreReactionPos(cxt.getSamplePos(), cxt.getPreReactionPos(), cxt.getSampleVol());
 		}
 
 		if (finalCxt) {
@@ -379,7 +380,8 @@ public class AC41ProcessSample extends A8kActionTask {
 
 		//吐液到反应板上
 		turnableMoveCtrlService.trunableMoveToDropLiquidPos(cxt.getIncubatorPos());
-		liquidOperationCtrlService.takePreReactionLiquidToReation(cxt.getPreReactionPos());
+		liquidOperationCtrlModule.takePreReactionLiquid(cxt.getPreReactionPos());
+		liquidOperationCtrlModule.dropLiquidToReactionPlate();
 
 
 	}

src/main/java/a8k/app/service/module/LiquidOperationCtrlModule.java

@@ -0,0 +1,383 @@
+package a8k.app.service.module;
+
+
+import a8k.app.dao.type.combination.ProjBuildinInfo;
+import a8k.app.dao.type.db.ProjExtInfoCard;
+import a8k.app.hardware.driver.PipetteCtrlDriverV2;
+import a8k.app.hardware.type.A8kEcode;
+import a8k.app.hardware.type.pipette_module.DistribuType;
+import a8k.app.hardware.type.pipette_module.cpyidx.ContainerCpyId;
+import a8k.app.hardware.type.pipette_module.cpyidx.LiquidConfigCpyIdx;
+import a8k.app.hardware.type.pipette_module.param.AspirationParam;
+import a8k.app.hardware.type.pipette_module.param.DistribuAllParam;
+import a8k.app.service.lowerctrl.HbotMoveExCtrlService;
+import a8k.app.service.param.exparam.HbotConsumableExParamMgr;
+import a8k.app.service.param.hbotpos.HbotFixedPosParamMgr;
+import a8k.app.service.param.hbotpos.HbotSamplePosParamMgr;
+import a8k.app.service.statemgr.ConsumablesMgrService;
+import a8k.app.service.statemgr.GStateMgrService;
+import a8k.app.service.utils.UISender;
+import a8k.app.service.utils.ZAppChecker;
+import a8k.app.type.a8k.ConsumableType;
+import a8k.app.type.a8k.Pos3d;
+import a8k.app.type.a8k.pos.LargeBufferPos;
+import a8k.app.type.a8k.pos.PreReactionPos;
+import a8k.app.type.exception.AppException;
+import a8k.app.type.param.type.A8kSamplePos;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+@Component
+@Slf4j
+@RequiredArgsConstructor
+public class LiquidOperationCtrlModule {
+	static public final Integer MIX_VOLUME_UL = 200;
+
+
+	private final GStateMgrService gstate;
+
+	/*
+	 * CTRL-SERVICE
+	 */
+	private final HbotMoveExCtrlService hbotMoveExCtrlService;
+	private final PipetteCtrlDriverV2   pipetteCtrlDriverV2;
+
+	/*
+	 * PARAM-MGR
+	 */
+	private final HbotConsumableExParamMgr hbotConsumableExParamMgr;
+	/**
+	 * StateMgr
+	 */
+	private final ConsumablesMgrService    consumablesMgrService;
+	private final HbotSamplePosParamMgr    hbotSamplePosParamMgr;
+	private final HbotFixedPosParamMgr     hbotFixedPosParamMgr;
+
+	private final TipMgrModule tipMgrModule;
+
+
+	ProjBuildinInfo projBuildinInfo;
+	ProjExtInfoCard projExtInfo;
+
+
+	synchronized public void setProjContext(ProjBuildinInfo projBuildinInfo, ProjExtInfoCard projExtInfo) {
+		this.projBuildinInfo = projBuildinInfo;
+		this.projExtInfo     = projExtInfo;
+	}
+
+
+	/**
+	 * 取大瓶缓冲液到探测物质位置
+	 * @param from 大瓶缓冲液
+	 * @param topos     探测物质位置
+	 * @param ul        吸取量
+	 */
+	public void takeLargeBottleBufferLiquidToProbeSubstance(LargeBufferPos from, PreReactionPos topos, Integer ul) throws AppException {
+		// 取TIP
+		tipMgrModule.tryTakeTip();
+		ZAppChecker.check(pipetteCtrlDriverV2.readTipState(), A8kEcode.CODEERROR, "未检测到TIP");
+
+		Pos3d largeBSContainerPos        = hbotConsumableExParamMgr.getLargeBuffer(from.group);//大瓶缓冲液位置
+		Pos3d probeSubstanceContainerPos = hbotConsumableExParamMgr.getProbeSubstanceContainerPos(topos.group, topos.index);//探测物质位置
+		Pos3d probeSubstancePiercePos    = hbotConsumableExParamMgr.getProbeSubstancePiercePos(topos.group, topos.index);//探测物质刺破位置
+
+
+		//	刺破探测物质
+		UISender.txInfoMsg(log, "刺破探测物质:%s" + topos);
+		hbotMoveExCtrlService.moveToXY(probeSubstancePiercePos);
+		pipetteCtrlDriverV2.pierceThroughBlock(ContainerCpyId.DetectSubstancesCup, probeSubstanceContainerPos.z);
+
+		// 移动到取样位 && 取样
+		UISender.txInfoMsg(log, "移动到大瓶缓冲液位置:%s", largeBSContainerPos);
+		hbotMoveExCtrlService.moveToXY(largeBSContainerPos);
+		//		预吸取
+		UISender.txInfoMsg(log, "预吸取大瓶缓冲液:%dul", ul);
+		pipetteCtrlDriverV2.aspirateBlock(new AspirationParam(
+				ul * 10,
+				largeBSContainerPos.z,
+				ContainerCpyId.LargeBufferCup,
+				LiquidConfigCpyIdx.BufferSolution,
+				0,
+				1,
+				0,
+				0,
+				0,
+				0,
+				0,
+				0
+		));
+
+		// 移动到探测物质位置,吐液
+
+
+		//	移动到取样位
+		UISender.txInfoMsg(log, "移动到探测物质位置:%s", probeSubstanceContainerPos);
+		hbotMoveExCtrlService.moveToXY(probeSubstanceContainerPos);
+		//	吐液
+		UISender.txInfoMsg(log, "吐液到探测物质位置:%dul", ul);
+		pipetteCtrlDriverV2.distributeAllBlock(new DistribuAllParam(
+				probeSubstanceContainerPos.z,
+				ContainerCpyId.DetectSubstancesCup,
+				LiquidConfigCpyIdx.NotSet,
+				true,
+				DistribuType.JET_DIST,
+				0,
+				0,
+				true
+		));
+		//	丢弃TIP
+		UISender.txInfoMsg(log, "丢弃TIP");
+		tipMgrModule.dropTip();
+
+		hbotMoveExCtrlService.moveQuickToZero();
+	}
+
+
+	ContainerCpyId a8kSamplePosToContainerCpyId(A8kSamplePos a8kSamplePos) {
+		return switch (a8kSamplePos) {
+			case EmergencyTubePos, BloodSTubePos -> ContainerCpyId.ShortWholeBufferTube;
+			case BloodHTubePos -> ContainerCpyId.HighWholeBufferTube;
+			case MiniBloodPos -> ContainerCpyId.MiniBlood;
+			case Bulltube1P5Pos -> ContainerCpyId.BulletTube1P5;
+			case Bulltube0P5Pos -> ContainerCpyId.BulletTube0P5;
+			case StoolTestTubePos -> ContainerCpyId.StoolTestTube;
+		};
+	}
+
+	/**
+	 * 取样本
+	 * @param from 样本位置
+	 * @param ul   吸取量
+	 * @throws AppException 异常
+	 */
+	public void takeSampleOnly(A8kSamplePos from, Integer ul) throws AppException {
+		log.info("takeSampleOnly: from={},ul={}ul", from, ul);
+
+		Pos3d sampleContainerPos = hbotSamplePosParamMgr.getSampleContainerPos(from);//样本位置
+
+
+		// 取TIP
+		tipMgrModule.tryTakeTip();
+		ZAppChecker.check(pipetteCtrlDriverV2.readTipState(), A8kEcode.CODEERROR, "未检测到TIP");
+
+		//移动到取样位
+		UISender.txInfoMsg(log, "移动到样本位置:%s", sampleContainerPos);
+		hbotMoveExCtrlService.moveToXY(sampleContainerPos);
+
+		//取样
+		UISender.txInfoMsg(log, "取样:%dul", ul);
+		pipetteCtrlDriverV2.aspirateBlock(new AspirationParam(
+				ul * 10,
+				sampleContainerPos.z,
+				a8kSamplePosToContainerCpyId(from),
+				LiquidConfigCpyIdx.NotSet,
+				0,
+				1,
+				0,
+				0,
+				0,
+				0,
+				0,
+				0
+		));
+	}
+
+
+	public void pirceLittleBuffer(PreReactionPos pos) throws AppException {
+		// 取TIP
+		tipMgrModule.tryTakeTip();
+		ZAppChecker.check(pipetteCtrlDriverV2.readTipState(), A8kEcode.CODEERROR, "未检测到TIP");
+
+		Pos3d          pircePos;
+		ContainerCpyId containerCpyId;
+
+		if (pos.type.equals(ConsumableType.ProbeSubstance)) {
+			pircePos       = hbotConsumableExParamMgr.getProbeSubstancePiercePos(pos.group, pos.index);
+			containerCpyId = ContainerCpyId.DetectSubstancesCup;
+		} else {
+			pircePos       = hbotConsumableExParamMgr.getLittleBufferPiercePos(pos.group, pos.index);
+			containerCpyId = ContainerCpyId.LittleBufferCup;
+		}
+
+		pipetteCtrlDriverV2.pierceThroughBlock(containerCpyId, pircePos.z);
+	}
+
+
+	/**
+	 * 取样本到探测物质
+	 * @param from 样本位置
+	 * @param pos  预先反应位置P
+	 * @param ul   吸取量
+	 * @throws AppException 异常
+	 */
+	public void takeSampleToPreReactionPos(A8kSamplePos from, PreReactionPos pos, Integer ul) throws AppException {
+		log.info("takeSampleToPreReactionPos: from={}, pos={}, ul={}ul", from, pos, ul);
+		takeSampleOnly(from, ul);
+
+		Pos3d          reactionPos;
+		ContainerCpyId containerCpyId;
+		Integer        shakeUl    = MIX_VOLUME_UL;
+		Integer        shakeTimes = 5;
+
+		if (pos.type.equals(ConsumableType.ProbeSubstance)) {
+			reactionPos    = hbotConsumableExParamMgr.getProbeSubstanceContainerPos(pos.group, pos.index);
+			containerCpyId = ContainerCpyId.DetectSubstancesCup;
+		} else {
+			reactionPos    = hbotConsumableExParamMgr.getLittleBufferSamplePos(pos.group, pos.index);
+			containerCpyId = ContainerCpyId.LittleBufferCup;
+		}
+		if (projBuildinInfo != null) {
+			shakeUl    = projBuildinInfo.mixedLiquidMixingVolUl;
+			shakeTimes = projBuildinInfo.mixedLiquidMixingTimes;
+		}
+
+		// 移动到反应位
+		UISender.txInfoMsg(log, "移动到预先反应位置:%s", reactionPos);
+		hbotMoveExCtrlService.moveToXY(reactionPos);
+
+		//z轴移动到反应位
+		UISender.txInfoMsg(log, "分配样本");
+		pipetteCtrlDriverV2.distributeAllBlock(new DistribuAllParam(
+				reactionPos.z,
+				containerCpyId,
+				LiquidConfigCpyIdx.BufferSolution,
+				false,
+				DistribuType.SURFACE_DIST,
+				shakeUl * 10, // 预先反应位置的液体量
+				shakeTimes,
+				true
+		));
+	}
+
+	/**
+	 * 取样本液到预反应位，混合后，再取样
+	 * @param from
+	 * @param pos
+	 * @param ul
+	 * @throws AppException
+	 */
+	public void takeSampleToPreReactionPosAndAspirate(A8kSamplePos from, PreReactionPos pos, Integer ul) throws AppException {
+		log.info("takeSampleToPreReactionPosAndTakeToReactionPlate: from={}, pos={}, ul={}ul", from, pos, ul);
+		takeSampleOnly(from, ul);
+
+		Pos3d          reactionPos;
+		ContainerCpyId containerCpyId;
+		Integer        shakeUl    = MIX_VOLUME_UL;
+		Integer        shakeTimes = 5;
+
+		if (pos.type.equals(ConsumableType.ProbeSubstance)) {
+			reactionPos    = hbotConsumableExParamMgr.getProbeSubstanceContainerPos(pos.group, pos.index);
+			containerCpyId = ContainerCpyId.DetectSubstancesCup;
+		} else {
+			reactionPos    = hbotConsumableExParamMgr.getLittleBufferSamplePos(pos.group, pos.index);
+			containerCpyId = ContainerCpyId.LittleBufferCup;
+		}
+		if (projBuildinInfo != null) {
+			shakeUl    = projBuildinInfo.mixedLiquidMixingVolUl;
+			shakeTimes = projBuildinInfo.mixedLiquidMixingTimes;
+		}
+
+		// 移动到反应位
+		UISender.txInfoMsg(log, "移动到预先反应位置:%s", reactionPos);
+		hbotMoveExCtrlService.moveToXY(reactionPos);
+
+		//z轴移动到反应位
+		UISender.txInfoMsg(log, "分配样本");
+		pipetteCtrlDriverV2.distributeAllBlock(new DistribuAllParam(
+				reactionPos.z,
+				containerCpyId,
+				LiquidConfigCpyIdx.BufferSolution,
+				false,
+				DistribuType.SURFACE_DIST,
+				shakeUl * 10, // 预先反应位置的液体量
+				shakeTimes,
+				false
+		));
+
+		UISender.txInfoMsg(log, "取混合液");
+		pipetteCtrlDriverV2.aspirateBlock(new AspirationParam(
+				750, // 预先反应位置的液体量
+				reactionPos.z,
+				containerCpyId,
+				LiquidConfigCpyIdx.BufferSolution,
+				0,
+				0,
+				0,
+				0,
+				0,
+				0,
+				0,
+				0
+		));
+	}
+
+
+	/**
+	 * 取反应液到反应板上
+	 * @param pos 反应板位置
+	 * @throws AppException 异常
+	 */
+	public void takePreReactionLiquid(PreReactionPos pos) throws AppException {
+		log.info("takePreReactionLiquidToReactionPos: from pos={}", pos);
+
+		tipMgrModule.tryTakeTip();
+
+		Pos3d          reactionPos;
+		ContainerCpyId containerCpyId;
+
+		if (pos.type.equals(ConsumableType.ProbeSubstance)) {
+			reactionPos    = hbotConsumableExParamMgr.getProbeSubstanceContainerPos(pos.group, pos.index);
+			containerCpyId = ContainerCpyId.DetectSubstancesCup;
+		} else {
+			reactionPos    = hbotConsumableExParamMgr.getLittleBufferSamplePos(pos.group, pos.index);
+			containerCpyId = ContainerCpyId.LittleBufferCup;
+		}
+
+
+		UISender.txInfoMsg(log, "移动到预先反应位置:%s", reactionPos);
+		hbotMoveExCtrlService.moveToXY(reactionPos);
+
+		UISender.txInfoMsg(log, "取混合液");
+		pipetteCtrlDriverV2.aspirateBlock(new AspirationParam(
+				750, // 预先反应位置的液体量
+				reactionPos.z,
+				containerCpyId,
+				LiquidConfigCpyIdx.BufferSolution,
+				0,
+				0,
+				0,
+				0,
+				0,
+				0,
+				0,
+				0
+		));
+
+
+	}
+
+	public void dropLiquidToReactionPlate() throws AppException {
+		log.info("dropLiquidToReactionPlate");
+
+		Pos3d dropLiquidPos = hbotFixedPosParamMgr.getDropLiquidPos();
+
+
+		UISender.txInfoMsg(log, "移动到预先反应位置:%s", dropLiquidPos);
+		hbotMoveExCtrlService.moveToXY(dropLiquidPos);
+
+		UISender.txInfoMsg(log, "分配到反应板位置");
+		pipetteCtrlDriverV2.distributeAllBlock(new DistribuAllParam(
+				dropLiquidPos.z,
+				ContainerCpyId.ReactionPlate,
+				LiquidConfigCpyIdx.BufferSolution,
+				false,
+				DistribuType.JET_DIST,
+				0,
+				0,
+				true
+		));
+	}
+
+
+}

src/main/java/a8k/app/service/module/TipMgrModule.java

@@ -36,11 +36,6 @@ public class TipMgrModule {
 	private final PipetteCtrlDriverV2   pipetteCtrlDriver;
 
 
-	//*********************************************************
-	//                    TIP OPERATION
-	//*********************************************************
-
-
 	public void checkTipNumSetting() throws AppException {
 		for (TipGroupPos group : TipGroupPos.values()) {
 			UISender.txInfoMsg(log, "核对TIP-%s数量设置", group);
@@ -59,7 +54,9 @@ public class TipMgrModule {
 			}
 		}
 	}
-
+	public void testDoTakeTipAction(TipGroupPos tipGroupPos, Integer index) throws AppException {
+		doTakeTipAction(tipGroupPos, index);
+	}
 	public Boolean isHasTip() throws AppException {
 		return pipetteCtrlDriver.readTipState();
 	}
@@ -90,8 +87,8 @@ public class TipMgrModule {
 	 * 	循环遍历所有的TIP位置，直到取到TIP为止
 	 * @throws AppException TIP数量不足时，抛出APPE_TIP_NOT_ENOUGH。其他异常一般均为硬件异常。
 	 */
-	public void takeTip() throws AppException {
-		takeTip(null);
+	public void tryTakeTip() throws AppException {
+		tryTakeTip(null);
 	}
 
 	/**
@@ -99,7 +96,7 @@ public class TipMgrModule {
 	 * @param breakCondJudgeFn 一般用于结束条件判定，例如上层应用如果期望打断取TIP操作，可以传入一个函数来判断是否继续取TIP
 	 * @throws AppException TIP数量不足时，抛出APPE_TIP_NOT_ENOUGH。其他异常一般均为硬件异常。
 	 */
-	public void takeTip(JudgeFn breakCondJudgeFn) throws AppException {
+	public void tryTakeTip(JudgeFn breakCondJudgeFn) throws AppException {
 		if (pipetteCtrlDriver.readTipState()) {
 			return;
 		}
@@ -131,6 +128,7 @@ public class TipMgrModule {
 		}
 	}
 
+
 	//********************************************************************************
 	//                                 私有方法
 	//********************************************************************************
@@ -142,7 +140,7 @@ public class TipMgrModule {
 	 * @param index TIP索引
 	 * @throws AppException 异常
 	 */
-	public void doTakeTipAction(TipGroupPos tipGroupPos, Integer index) throws AppException {
+	private void doTakeTipAction(TipGroupPos tipGroupPos, Integer index) throws AppException {
 		log.info("takeTip groupId:{} index:{}", tipGroupPos.ordinal(), index);
 		checkTipIndex(tipGroupPos, index);
 		hbotMoveExCtrlService.moveToTakeTipXYPos(tipGroupPos, index);

src/main/java/a8k/app/service/param/exparam/HbotConsumableExParamMgr.java

@@ -43,8 +43,8 @@ public class HbotConsumableExParamMgr {
 	}
 
 
-	public Pos3d getProbeSubstanceSamplePos(ConsumableGroup group, Integer off) {
-		return hbotProbeSubstancePosMgr.getSamplePos(group, off);
+	public Pos3d getProbeSubstanceContainerPos(ConsumableGroup group, Integer off) {
+		return hbotProbeSubstancePosMgr.getContainerPos(group, off);
 	}
 
 	public Pos3d getProbeSubstancePiercePos(ConsumableGroup group, Integer off) {

src/main/java/a8k/app/service/param/hbotpos/HbotLittleBSPosMgr.java

@@ -3,7 +3,6 @@ package a8k.app.service.param.hbotpos;
 import a8k.app.type.a8k.ConsumableGroup;
 import a8k.app.service.param.base.ParamMgr;
 import a8k.app.type.param.hbotpos.HbotLittleBSPos;
-import a8k.app.type.a8k.Pos2d;
 import a8k.app.type.a8k.Pos3d;
 import jakarta.annotation.PostConstruct;
 import org.slf4j.Logger;
@@ -106,15 +105,10 @@ public class HbotLittleBSPosMgr extends ParamMgr {
 		return getParam(HbotLittleBSPos.GroupDY, Double.class);
 	}
 
-	//	public Pos3d getSamplePos(ConsumableGroup group, Integer off) {
-	//		Pos3d pos = getXYPos(group, off);
-	//		pos.z = getParam(HbotProbeSubstancePos.ProbeSubstanceSampleZPos, Double.class).intValue();
-	//		return pos;
-	//	}
 
-	public Pos3d getProbeSubstanceSamplePos(ConsumableGroup group, Integer off) {
-		Pos3d pos = getProbeSubstanceXYPos(group, off);
-		return pos;
+
+	public Pos3d getProbeSubstanceContainerPos(ConsumableGroup group, Integer off) {
+		return getProbeSubstanceXYPos(group, off);
 	}
 
 	public Pos3d getProbeSubstancePiercePos(ConsumableGroup group, Integer off) {

src/main/java/a8k/app/service/param/hbotpos/HbotProbeSubstancePosMgr.java

@@ -16,8 +16,8 @@ public class HbotProbeSubstancePosMgr extends ParamMgr {
 	@Resource
 	HbotLittleBSPosMgr hbotLittleBSPosMgr;
 
-	public Pos3d getSamplePos(ConsumableGroup group, Integer off) {
-		return hbotLittleBSPosMgr.getProbeSubstanceSamplePos(group, off);
+	public Pos3d getContainerPos(ConsumableGroup group, Integer off) {
+		return hbotLittleBSPosMgr.getProbeSubstanceContainerPos(group, off);
 	}
 
 	public Pos3d getPiercePos(ConsumableGroup group, Integer off) {

src/main/java/a8k/app/type/a8k/state/ProjectTaskContext.java

@@ -304,7 +304,7 @@ public class ProjectTaskContext {
 		A8kReactionFlowType      type                     = this.getProjBuildinInfo().reactionFlowType;
 		return switch (type) {
 			case SampleAndBS -> hbotConsumableExParamMgr.getLittleBufferSamplePos(this.getConsumable().getGroup(), this.getConsumable().getPos());
-			case SampleAndBSAndProbeSubstance -> hbotConsumableExParamMgr.getProbeSubstanceSamplePos(this.getConsumable().getGroup(), this.getConsumable().getPos());
+			case SampleAndBSAndProbeSubstance -> hbotConsumableExParamMgr.getProbeSubstanceContainerPos(this.getConsumable().getGroup(), this.getConsumable().getPos());
 		};
 	}
 

src/main/java/a8k/extui/page/driver/pipette_module/PipetteGunCommonConfigPage.java

@@ -4,6 +4,7 @@ package a8k.extui.page.driver.pipette_module;
 import a8k.app.hardware.driver.PipetteCtrlDriverV2;
 import a8k.app.hardware.type.pipette_module.cfg.PipetteCommonConfigIndex;
 import a8k.app.hardware.type.pipette_module.cfg.PlatformInfoIndex;
+import a8k.app.hardware.type.pipette_module.cpyidx.PlatInfoCpyIdx;
 import a8k.app.type.exception.AppException;
 import a8k.extui.mgr.ExtApiPageMgr;
 import jakarta.annotation.PostConstruct;
@@ -35,6 +36,9 @@ public class PipetteGunCommonConfigPage {
 		pipetteCtrlDriverV2.setCommonConfig(PipetteCommonConfigIndex.pressureRecordEnable, enable ? 1 : 0);
 	}
 
+	public void setPlatformInfo(PlatInfoCpyIdx platInfoCpyIdx) throws AppException {
+		pipetteCtrlDriverV2.setCommonConfig(PipetteCommonConfigIndex.platformInfoCpyid, platInfoCpyIdx.toInteger());
+	}
 
 	@PostConstruct
 	void init() {
@@ -42,7 +46,9 @@ public class PipetteGunCommonConfigPage {
 		page.newGroup("基础操作");
 		page.addFunction("设置压力记录开关", this::setPressureRecordEnable)
 				.setParamVal("enable", () -> getVal(PipetteCommonConfigIndex.pressureRecordEnable) == 1);
-
+		page.addFunction("设置平台信息", this::setPlatformInfo)
+				.setParamVal("platInfoCpyIdx",
+						() -> PlatInfoCpyIdx.of(getVal(PipetteCommonConfigIndex.platformInfoCpyid)));
 		extApiPageMgr.addPage(page);
 	}
 

src/main/java/a8k/extui/page/driver/pipette_module/PipetteGunOperationCtrlPage.java

@@ -77,14 +77,6 @@ public class PipetteGunOperationCtrlPage {
 		aspirateParam.mixTimes = mixTimes;
 	}
 
-	//	containerPos
-	//destContainerCpyid
-	//destContainerIsEmpty
-	//destLiquidCfgIndex
-	//distribuType
-	//mixVolume
-	//mixTimes
-	//zmAutoMoveToZero
 	public void setDistributeParam_containerPos(Integer containerPos) {
 		distributeParam.containerPos = containerPos;
 	}
@@ -124,8 +116,8 @@ public class PipetteGunOperationCtrlPage {
 	}
 
 	public void execDistribute() throws AppException {
-		pipetteCtrlDriverV2.pipettePumpDistributeAllSetParam(distributeParam);
-		pipetteCtrlDriverV2.pipettePumpDistributeAllBlock();
+		pipetteCtrlDriverV2.distributeAllSetParam(distributeParam);
+		pipetteCtrlDriverV2.distributeAllBlock();
 	}
 
 	public void pipettePumpInitDeviceBlock(Integer cpyId) throws AppException {

src/main/java/a8k/extui/page/test/verification/P32HbotPosVerificationPage.java

@@ -21,7 +21,7 @@ public class P32HbotPosVerificationPage {
 
 
 	public void takeTip(TipGroupPos tipGroupPos, Integer index) throws AppException {
-		tipMgrModule.doTakeTipAction(tipGroupPos, index);
+		tipMgrModule.testDoTakeTipAction(tipGroupPos, index);
 	}
 
 	public void moveToTakeTipObservationPos(TipGroupPos tipGroupPos, Integer index, Integer zpos) throws AppException {

src/main/java/a8k/extui/page/test/verification/P34LiquidOperationTestPage.java

@@ -1,13 +1,14 @@
 package a8k.extui.page.test.verification;
 
+import a8k.app.service.lowerctrl.TurnableMoveCtrlService;
 import a8k.app.service.module.TipMgrModule;
 import a8k.app.type.a8k.*;
+import a8k.app.type.a8k.pos.IncubatorPos;
 import a8k.app.type.a8k.pos.LargeBufferPos;
 import a8k.app.type.a8k.pos.PreReactionPos;
-import a8k.app.type.a8k.pos.TipGroupPos;
 import a8k.app.type.exception.AppException;
 import a8k.app.type.param.type.A8kSamplePos;
-import a8k.app.service.lowerctrl.LiquidOperationCtrlService;
+import a8k.app.service.module.LiquidOperationCtrlModule;
 import a8k.extui.mgr.ExtApiPageMgr;
 import a8k.extui.type.ExtUIPageCfg;
 import jakarta.annotation.PostConstruct;
@@ -20,7 +21,9 @@ import org.springframework.stereotype.Component;
 public class P34LiquidOperationTestPage {
 
 	@Resource
-	LiquidOperationCtrlService liquidOperationCtrlService;
+	LiquidOperationCtrlModule liquidOperationCtrlModule;
+	@Resource
+	TurnableMoveCtrlService   turnableMoveCtrlService;
 	@Resource
 	TipMgrModule              tipMgrModule;
 	@Resource
@@ -31,7 +34,7 @@ public class P34LiquidOperationTestPage {
 	//	液体操作
 	//
 	public void takeTip() throws AppException {
-		tipMgrModule.takeTip();
+		tipMgrModule.tryTakeTip();
 	}
 
 	public void dropTip() throws AppException {
@@ -40,36 +43,41 @@ public class P34LiquidOperationTestPage {
 
 	public void takeLargeBottleBufferLiquidToProbeSubstance(LargeBufferPos from, ConsumableGroup group, Integer index, Integer ul) throws AppException {
 		PreReactionPos topos = new PreReactionPos(ConsumableType.ProbeSubstance, group, index);
-		liquidOperationCtrlService.takeLargeBottleBufferLiquidToProbeSubstance(from, topos, ul);
+		liquidOperationCtrlModule.takeLargeBottleBufferLiquidToProbeSubstance(from, topos, ul);
 	}
 
 	public void takeSampleToProbeSubstance(A8kSamplePos from, ConsumableGroup toGroup, Integer toIndex, Integer ul) throws AppException {
 		PreReactionPos topos = new PreReactionPos(ConsumableType.ProbeSubstance, toGroup, toIndex);
-		liquidOperationCtrlService.takeSample(from, topos, ul);
+		liquidOperationCtrlModule.takeSampleToPreReactionPos(from, topos, ul);
+	}
+
+	public void takePreReactionLiquidFromProbeSubstance(ConsumableGroup toGroup, Integer toIndex) throws AppException {
+		PreReactionPos pos = new PreReactionPos(ConsumableType.ProbeSubstance, toGroup, toIndex);
+		liquidOperationCtrlModule.takePreReactionLiquid(pos);
 	}
 
 	public void takeSampleOnly(A8kSamplePos from, Integer ul) throws AppException {
-		liquidOperationCtrlService.takeSampleOnly(from, ul);
+		liquidOperationCtrlModule.takeSampleOnly(from, ul);
 	}
 
 	public void takeSampleToLittleBuffer(A8kSamplePos from, ConsumableGroup toGroup, Integer toIndex, Integer ul) throws AppException {
 		PreReactionPos topos = new PreReactionPos(ConsumableType.SmallBottleBuffer, toGroup, toIndex);
-		liquidOperationCtrlService.takeSample(from, topos, ul);
+		liquidOperationCtrlModule.takeSampleToPreReactionPos(from, topos, ul);
 	}
 
 	public void pirceLittleBuffer(ConsumableGroup toGroup, Integer toIndex) throws AppException {
 		PreReactionPos pos = new PreReactionPos(ConsumableType.SmallBottleBuffer, toGroup, toIndex);
-		liquidOperationCtrlService.pirceLittleBuffer(pos);
+		liquidOperationCtrlModule.pirceLittleBuffer(pos);
 	}
 
-	public void takePreReactionLiquidFromLittleBufferToLiquid(ConsumableGroup toGroup, Integer toIndex) throws AppException {
+	public void takePreReactionLiquidFromSmallBottleBuffer(ConsumableGroup toGroup, Integer toIndex) throws AppException {
 		PreReactionPos pos = new PreReactionPos(ConsumableType.SmallBottleBuffer, toGroup, toIndex);
-		liquidOperationCtrlService.takePreReactionLiquidToReation(pos);
+		liquidOperationCtrlModule.takePreReactionLiquid(pos);
 	}
 
-	public void takePreReactionLiquidFromProbeSubstanceToLiquid(ConsumableGroup toGroup, Integer toIndex) throws AppException {
-		PreReactionPos pos = new PreReactionPos(ConsumableType.ProbeSubstance, toGroup, toIndex);
-		liquidOperationCtrlService.takePreReactionLiquidToReation(pos);
+	public void dropLiquidToReactionPlate(IncubatorPos pos) throws AppException {
+		turnableMoveCtrlService.trunableMoveToDropLiquidPos(pos);
+		liquidOperationCtrlModule.dropLiquidToReactionPlate();
 	}
 
 	@PostConstruct
@@ -81,12 +89,17 @@ public class P34LiquidOperationTestPage {
 		cfg.newGroup("液体操作-大瓶缓冲液/探测物质");
 		cfg.addFunction("取大瓶缓冲液到探测物质位置", this::takeLargeBottleBufferLiquidToProbeSubstance);
 		cfg.addFunction("取样品到探测物质位置", this::takeSampleToProbeSubstance);
-		cfg.addFunction("取反应液到反应位", this::takePreReactionLiquidFromProbeSubstanceToLiquid);
+		cfg.addFunction("取反应液", this::takePreReactionLiquidFromProbeSubstance);
+		cfg.addFunction("滴反应液到反应板上", this::dropLiquidToReactionPlate);
 		cfg.newGroup("液体操作-小瓶缓冲液");
 		cfg.addFunction("刺小瓶缓冲液", this::pirceLittleBuffer);
 		cfg.addFunction("取样品到小瓶缓冲液", this::takeSampleToLittleBuffer);
-		cfg.addFunction("取反应液到反应位", this::takePreReactionLiquidFromLittleBufferToLiquid);
-		cfg.addFunction("取样本", this::takeSampleOnly);
+		cfg.addFunction("取反应液", this::takePreReactionLiquidFromSmallBottleBuffer);
+		cfg.addFunction("滴反应液到反应板上", this::dropLiquidToReactionPlate);
+		cfg.newGroup("其他");
+		cfg.addFunction("取样本(Only)", this::takeSampleOnly);
+
+
 		extApiPageMgr.addPage(cfg);
 	}