update

src/main/java/a8k/service/app/appctrl/ConsumablesScanService.java → src/main/java/a8k/service/app/appctrl/AppConsumablesScanService.java

@@ -30,8 +30,8 @@ import java.util.List;
 import java.util.Map;
 
 @Component
-public class ConsumablesScanService {
-	static  Logger                logger = org.slf4j.LoggerFactory.getLogger(ConsumablesScanService.class);
+public class AppConsumablesScanService {
+	static  Logger                logger = org.slf4j.LoggerFactory.getLogger(AppConsumablesScanService.class);
 	@Autowired
 	private AppDebugHelperService appDebugHelperService;
 

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

@@ -1,22 +1,18 @@
 package a8k.service.app.appctrl;
 
-import a8k.OS;
 import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
 import a8k.extapi_controler.utils.ExtApiFn;
 import a8k.extapi_controler.utils.ExtApiTab;
-import a8k.service.app.appctrl.mainflowctrl.base.A8kStepAction;
 import a8k.service.app.appstate.ConsumablesMgrService;
 import a8k.service.app.appstate.ProjectProcessContextMgrService;
 import a8k.service.app.appstate.type.*;
-import a8k.service.app.appstate.type.state.OptScanModuleState;
+import a8k.service.app.devicedriver.ctrl.DeviceInitCtrlService;
 import a8k.service.debug.AppDebugHelperService;
-import a8k.type.Consumable;
 import a8k.type.ConsumableGroup;
 import a8k.type.checkpoint.CheckResult;
 import a8k.service.app.appstate.GStateService;
 import a8k.type.consumables.ConsumableState;
 import a8k.type.exception.AppException;
-import freemarker.debug.impl.DebuggerService;
 import jakarta.annotation.Resource;
 import org.springframework.stereotype.Component;
 
@@ -28,15 +24,15 @@ import java.util.Map;
 public class AppDeviceCtrlService {
 
 	@Resource
-	GStateService                   gstate;
+	GStateService          gstate;
 	@Resource
-	DeviceInitCtrlService           deviceInitializationModule; //设备初始化模块
+	DeviceInitCtrlService  deviceInitializationModule; //设备初始化模块
 	@Resource
-	MainFlowCtrlService             mainFlowCtrlSampleScanService; //主流程控制模块
+	AppMainFlowCtrlService mainFlowCtrlSampleScanService; //主流程控制模块
 	@Resource
-	ConsumablesScanService          consumablesScanService; //耗材扫描模块
+	AppConsumablesScanService appConsumablesScanService; //耗材扫描模块
 	@Resource
-	ConsumablesMgrService           consumablesMgrService; //耗材管理模块
+	ConsumablesMgrService     consumablesMgrService; //耗材管理模块
 	@Resource
 	ProjectProcessContextMgrService projectProcessContextMgrService; //项目处理上下文管理模块
 
@@ -87,12 +83,12 @@ public class AppDeviceCtrlService {
 	 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
 	@ExtApiFn(name = "扫描耗材", group = "耗材扫描")
 	public Map<String, Object> scanConsumables() throws AppException {
-		return consumablesScanService.scanConsumables();
+		return appConsumablesScanService.scanConsumables();
 	}
 
 	@ExtApiFn(name = "扫描某一组耗材", group = "耗材扫描")
 	public Map<String, Object> scanOneGroupConsumables(ConsumableGroup group) throws AppException {
-		return consumablesScanService.scanOneGroupConsumables(group);
+		return appConsumablesScanService.scanOneGroupConsumables(group);
 	}
 
 

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

@@ -19,8 +19,8 @@ import org.springframework.stereotype.Component;
 import java.util.List;
 
 @Component
-public class MainFlowCtrlService {
-	static Logger logger = LoggerFactory.getLogger(MainFlowCtrlService.class);
+public class AppMainFlowCtrlService {
+	static Logger logger = LoggerFactory.getLogger(AppMainFlowCtrlService.class);
 
 
 	@Resource

src/main/java/a8k/service/app/appctrl/TubeSettingMgrService.java → src/main/java/a8k/service/app/appctrl/AppTubeSettingMgrService.java

@@ -22,8 +22,8 @@ import java.util.List;
 
 @Component
 @ExtApiTab(cfg = ExtApiTabConfig.AppTubeSettingMgrService)
-public class TubeSettingMgrService {
-	static Logger logger = LoggerFactory.getLogger(TubeSettingMgrService.class);
+public class AppTubeSettingMgrService {
+	static Logger logger = LoggerFactory.getLogger(AppTubeSettingMgrService.class);
 
 	static class ORDER {
 		static final int getA8kDeviceCfg     = 1;

src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ1_ENTER_TUBEHOLDER_AND_SCAN.java

@@ -7,7 +7,7 @@ import a8k.service.bases.AppEventBusService;
 import a8k.service.bases.appevent.AppWarningNotifyEvent;
 import a8k.hardware.type.a8kcanprotocol.A8kEcode;
 import a8k.service.app.appctrl.mainflowctrl.CondtionMgrService;
-import a8k.service.app.appctrl.TubeSettingMgrService;
+import a8k.service.app.appctrl.AppTubeSettingMgrService;
 import a8k.service.app.appctrl.mainflowctrl.base.A8kActionStepType;
 import a8k.service.app.appctrl.mainflowctrl.base.A8kStepAction;
 
@@ -52,11 +52,11 @@ public class SEQ1_ENTER_TUBEHOLDER_AND_SCAN extends A8kStepAction {
 	@Resource
 	SampleScanTransportHardwareControler stc;
 	@Resource
-	AppEventBusService                   ebus;
+	AppEventBusService       ebus;
 	@Resource
-	TubeSettingMgrService                tubeSettingMgrService;
+	AppTubeSettingMgrService appTubeSettingMgrService;
 	@Resource
-	AppProjInfoMgrService                appProjInfoMgr;
+	AppProjInfoMgrService    appProjInfoMgr;
 	@Resource
 	AppDebugHelperService                appDebugHelper;
 	@Resource
@@ -164,7 +164,7 @@ public class SEQ1_ENTER_TUBEHOLDER_AND_SCAN extends A8kStepAction {
 
 	TubeHolder parseScanResult(TubeHolderScanResult scanResult) throws AppException {
 		TubeHolder        tubeholder = new TubeHolder();
-		TubeHolderSetting setting    = tubeSettingMgrService.interUseGetThelastActiveTubeHolderSettingAndLock();
+		TubeHolderSetting setting    = appTubeSettingMgrService.interUseGetThelastActiveTubeHolderSettingAndLock();
 		try {
 			//获取试管架类型
 			A8kTubeHolderType tubeHolderType = A8kTubeHolderType.of(scanResult.tubeHolderType);
@@ -188,13 +188,13 @@ public class SEQ1_ENTER_TUBEHOLDER_AND_SCAN extends A8kStepAction {
 			//设置试管架状态
 			tubeholder.setState(TubeHolderState.PROCESSING);
 			//删除之前的试管架配置
-			tubeSettingMgrService.interUseRemoveTubeHolderSetting(setting);
+			appTubeSettingMgrService.interUseRemoveTubeHolderSetting(setting);
 			return tubeholder;
 
 		} catch (AppException e) {
 			//回滚部分状态
 			if (setting != null)
-				tubeSettingMgrService.interUseUnlockTubeHolderSetting(setting.uuid);
+				appTubeSettingMgrService.interUseUnlockTubeHolderSetting(setting.uuid);
 			throw e;
 		}
 	}

src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ4_PRE_PROCESS.java

@@ -11,7 +11,7 @@ import a8k.service.app.appctrl.mainflowctrl.base.A8kStepAction;
 import a8k.service.app.appstate.*;
 import a8k.service.app.appstate.resource.A8kPublicResourceType;
 import a8k.service.app.appstate.type.Tube;
-import a8k.service.app.devicedriver.basectrl.HbotBaseMoveControlService;
+import a8k.service.app.devicedriver.basectrl.HbotBaseMoveControler;
 import a8k.service.app.devicedriver.ctrl.ReactionPlatesTransmitCtrl;
 import a8k.service.app.devicedriver.ctrl.SampleScanTransportHardwareControler;
 import a8k.service.app.devicedriver.ctrl.SamplesPreProcesCtrl;
@@ -60,7 +60,7 @@ public class SEQ4_PRE_PROCESS extends A8kStepAction {
 	@Resource
 	SamplesPreProcesCtrl           samplesPreProcesCtrl;
 	@Resource
-	HbotBaseMoveControlService     hbotBaseMoveControlService;
+	HbotBaseMoveControler          hbotBaseMoveControler;
 	@Resource
 	IncubationPlateStateMgrService incubationPlateStateMgrService;
 	@Resource

src/main/java/a8k/service/app/devicedriver/basectrl/HbotBaseMoveControlService.java → src/main/java/a8k/service/app/devicedriver/basectrl/HbotBaseMoveControler.java

@@ -20,15 +20,15 @@ import org.springframework.stereotype.Component;
  */
 @Component
 @ExtApiTab(cfg = ExtApiTabConfig.HbotControlService)
-public class HbotBaseMoveControlService {
-	static Logger logger = LoggerFactory.getLogger(HbotBaseMoveControlService.class);
+public class HbotBaseMoveControler {
+	static Logger logger = LoggerFactory.getLogger(HbotBaseMoveControler.class);
 
 	@Resource
-	A8kCanBusService canBus;
+	A8kCanBusService  canBus;
 	@Resource
 	PipetteCtrlModule pipetteCtrlModule;
 	@Resource
-	HbotModule hbotModule;
+	HbotModule        hbotModule;
 	Integer ao = 20000;
 
 	public void hbotMoveTo(Pos3d targetPos) throws AppException {
@@ -59,9 +59,9 @@ public class HbotBaseMoveControlService {
 
 		// HBot移动
 		hbotModule.enable(1);
-		hbotModule.moveToBlock(targetPos.x - 20, targetPos.y - 20, ao);
-		hbotModule.moveToBlock(targetPos.x, targetPos.y, ao);
-		hbotModule.moveToBlock(targetPos.x, targetPos.y, ao);
+		hbotModule.moveToBlock(targetPos.x - 20, targetPos.y - 20);
+		hbotModule.moveToBlock(targetPos.x, targetPos.y);
+		hbotModule.moveToBlock(targetPos.x, targetPos.y);
 
 		// Z轴移动
 		if (targetPos.z != 0) {
@@ -77,50 +77,50 @@ public class HbotBaseMoveControlService {
 		hbotMoveTo(new Pos3d(tpos.x, tpos.y, 0));
 	}
 
-//	public String scan2dCode(Integer waittime) throws AppException {
-//		try {
-//			canBus.codeScanerStartScan(MId.PipetteModCodeScanner);
-//			String result = canBus.codeScanerWaittingForResult(MId.PipetteModCodeScanner, waittime);
-//			canBus.codeScanerStopScan(MId.PipetteModCodeScanner);
-//			return result;
-//		} catch (AppException e) {
-//			return "";
-//		}
-//	}
-//
-//
-//	public void zMoveTo(Integer z) throws AppException {
-//		if (z == 0) {
-//			pipetteCtrlModule.zMotorMoveToZeroPointQuickBlock();
-//		} else {
-//			pipetteCtrlModule.zMotorMoveToBlock(z);
-//		}
-//	}
-//
-//	private void hbotCheckAndMoveTo(Pos2d targetPos) throws AppException {
-//		hbotMoveTo(new Pos3d(targetPos.x, targetPos.y, 0));
-//	}
-
-//	private void modGroupMoveToZero() throws AppException {
-//		if (!canBus.getIOState(IOId.PlateBoxCoverClosurePPS)) {
-//			throw new AppException(A8kEcode.APPE_PLATE_BOX_NOT_COVER);
-//		}
-//
-//		pipetteCtrlModule.zMotorEnable(1);
-//		hbotModule.enable(1);
-//
-//		hbotModule.moveToZeroBlock(timep.getHbotRuntoZeroActionOvertime());
-//
-//		// 丢弃tip
-//		Pos3d dropPos = pp.getTipDropPos();
-//		hbotMoveTo(dropPos);
-//		// TODO: canBus.pipetteCtrlInitDeviceBlock(MId.PipetteMod, timep.getActionOvertime());
-//
-//		// 快速归零
-//		modGroupMoveToZeroQuick();
-//	}
-
-//	private void modGroupMoveToZeroQuick() throws AppException {
+	//	public String scan2dCode(Integer waittime) throws AppException {
+	//		try {
+	//			canBus.codeScanerStartScan(MId.PipetteModCodeScanner);
+	//			String result = canBus.codeScanerWaittingForResult(MId.PipetteModCodeScanner, waittime);
+	//			canBus.codeScanerStopScan(MId.PipetteModCodeScanner);
+	//			return result;
+	//		} catch (AppException e) {
+	//			return "";
+	//		}
+	//	}
+	//
+	//
+	//	public void zMoveTo(Integer z) throws AppException {
+	//		if (z == 0) {
+	//			pipetteCtrlModule.zMotorMoveToZeroPointQuickBlock();
+	//		} else {
+	//			pipetteCtrlModule.zMotorMoveToBlock(z);
+	//		}
+	//	}
+	//
+	//	private void hbotCheckAndMoveTo(Pos2d targetPos) throws AppException {
+	//		hbotMoveTo(new Pos3d(targetPos.x, targetPos.y, 0));
+	//	}
+
+	//	private void modGroupMoveToZero() throws AppException {
+	//		if (!canBus.getIOState(IOId.PlateBoxCoverClosurePPS)) {
+	//			throw new AppException(A8kEcode.APPE_PLATE_BOX_NOT_COVER);
+	//		}
+	//
+	//		pipetteCtrlModule.zMotorEnable(1);
+	//		hbotModule.enable(1);
+	//
+	//		hbotModule.moveToZeroBlock(timep.getHbotRuntoZeroActionOvertime());
+	//
+	//		// 丢弃tip
+	//		Pos3d dropPos = pp.getTipDropPos();
+	//		hbotMoveTo(dropPos);
+	//		// TODO: canBus.pipetteCtrlInitDeviceBlock(MId.PipetteMod, timep.getActionOvertime());
+	//
+	//		// 快速归零
+	//		modGroupMoveToZeroQuick();
+	//	}
+
+	//	private void modGroupMoveToZeroQuick() throws AppException {
 	//		hbotCheckAndMoveTo(new Pos2d(0, 0));
 	//	}
 

src/main/java/a8k/service/app/devicedriver/basectrl/HbotModule.java

@@ -15,35 +15,38 @@ public class HbotModule {
 	@Resource
 	A8kCanBusService canBus;
 
+	Integer actionOvertime           = 10000;
+	Integer moveToZeroActionOvertime = 20000;
+
 	public void enable(Integer enable) throws AppException {
 		canBus.callcmd(MId.HbotM.toInt(), CmdId.xymotor_enable.toInt(), enable);
 	}
 
-	public void moveBy(Integer x, Integer y) throws AppException {
+	private void moveBy(Integer x, Integer y) throws AppException {
 		canBus.callcmd(MId.HbotM.toInt(), CmdId.xymotor_move_by.toInt(), x, y);
 	}
 
-	public void moveByBlock(Integer x, Integer y, Integer actionOvertime) throws AppException {
+	public void moveByBlock(Integer x, Integer y) throws AppException {
 		moveBy(x, y);
 		canBus.waitForMod(MId.HbotM, actionOvertime);
 	}
 
-	public void moveTo(Integer x, Integer y) throws AppException {
+	private void moveTo(Integer x, Integer y) throws AppException {
 		canBus.callcmd(MId.HbotM.toInt(), CmdId.xymotor_move_to.toInt(), x, y);
 	}
 
-	public void moveToBlock(Integer x, Integer y, Integer actionOvertime) throws AppException {
+	public void moveToBlock(Integer x, Integer y) throws AppException {
 		moveTo(x, y);
 		canBus.waitForMod(MId.HbotM, actionOvertime);
 	}
 
-	public void moveToZero() throws AppException {
+	private void moveToZero() throws AppException {
 		canBus.callcmd(MId.HbotM.toInt(), CmdId.xymotor_move_to_zero.toInt());
 	}
 
-	public void moveToZeroBlock(Integer actionOvertime) throws AppException {
+	public void moveToZeroBlock() throws AppException {
 		moveToZero();
-		canBus.waitForMod(MId.HbotM, actionOvertime);
+		canBus.waitForMod(MId.HbotM, moveToZeroActionOvertime);
 	}
 
 	public Pos2d readPos() throws AppException {

src/main/java/a8k/service/app/devicedriver/basectrl/PipetteCtrlModule.java

@@ -130,7 +130,7 @@ public class PipetteCtrlModule {
 
 
 	@ExtApiFn(name = "初始化设备", order = FnOrder.initDeviceBlock)
-	public void initDeviceBlock() throws AppException {
+	public void pipetteInitDeviceBlock() throws AppException {
 		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_init_device.toInt());
 		canBusService.waitForMod(MId.PipetteMod, overtime);
 	}

src/main/java/a8k/service/app/devicedriver/calibration/Hbot2DCodeScanPosCalibration.java

@@ -5,6 +5,8 @@ import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
 import a8k.extapi_controler.utils.ExtApiFn;
 import a8k.extapi_controler.utils.ExtApiTab;
 import a8k.hardware.A8kCanBusService;
+import a8k.service.app.devicedriver.basectrl.HbotBaseMoveControler;
+import a8k.service.app.devicedriver.basectrl.HbotModule;
 import a8k.service.app.devicedriver.basectrl.PipetteCtrlModule;
 import a8k.service.app.devicedriver.basectrl.CodeScaner;
 import a8k.service.app.devicedriver.param.Hbot2DCodeScanPos;
@@ -17,20 +19,28 @@ import jakarta.annotation.Resource;
 @ExtApiTab(cfg = ExtApiTabConfig.Hbot2DCodeScanPosCalibration)
 public class Hbot2DCodeScanPosCalibration {
 
-	@Resource
-	Hbot2DCodeScanPos hbot2DCodeScanPos;
 
 	@Resource
-	A8kCanBusService     canBus;
+	A8kCanBusService      canBus;
+	@Resource
+	CodeScaner            codeScaner;
+	@Resource
+	PipetteCtrlModule     pipetteCtrlModule;
 	@Resource
-	CodeScaner        codeScaner;
+	HbotModule            hbotModule;
 	@Resource
-	PipetteCtrlModule pipetteCtrlModule;
+	HbotBaseMoveControler hbotBaseMoveControler;
 
+	@Resource
+	Hbot2DCodeScanPos hbot2DCodeScanPos;
 
-	@ExtApiFn(name = "扫码测试(全部位置)", group = "测试工具", order = 0)
+
+	@ExtApiFn(name = "归零", group = "测试工具", order = 0)
 	public void deviceReset() throws AppException {
 		pipetteCtrlModule.zMotorEnable(1);
+		hbotModule.enable(1);
+		pipetteCtrlModule.zMotorMoveZeroBlock();
+		hbotModule.moveToZeroBlock();
 	}
 
 	public void disableMotor() throws AppException {

src/main/java/a8k/service/app/devicedriver/commonctrl/HardwareCommonCtrl.java

@@ -107,7 +107,7 @@ public class HardwareCommonCtrl {
 		canBus.stepMotorEasyMoveToZeroBlock(MId.OptModPullM, timep.getRuntoZeroActionOvertime());
 		canBus.stepMotorEasyMoveToZeroBlock(MId.OptModScannerM, timep.getRuntoZeroActionOvertime());
 		//HBot初始化
-		hbotModule.moveToZero();
+		hbotModule.moveToZeroBlock();
 
 		//		TODO canBus.stepMotorEasyMoveToZeroBlock(MId.PipetteModZM, timep.getRuntoZeroActionOvertime());
 		//转盘归零

src/main/java/a8k/service/app/devicedriver/ctrl/ConsumablesScanCtrl.java

@@ -1,7 +1,7 @@
 package a8k.service.app.devicedriver.ctrl;
 
 import a8k.service.app.devicedriver.basectrl.CodeScaner;
-import a8k.service.app.devicedriver.basectrl.HbotBaseMoveControlService;
+import a8k.service.app.devicedriver.basectrl.HbotBaseMoveControler;
 import a8k.service.bases.ActionReactorService;
 import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
 import a8k.extapi_controler.utils.ExtApiFn;
@@ -28,9 +28,9 @@ public class ConsumablesScanCtrl {
 	@Resource
 	Hbot2DCodeScanPos hbotScanPos;
 	@Resource
-	CodeScaner codeScaner;
+	CodeScaner            codeScaner;
 	@Resource
-	HbotBaseMoveControlService hbot;
+	HbotBaseMoveControler hbot;
 
 
 	private void hbotMoveTo(Pos2d tpos) throws AppException {

src/main/java/a8k/service/app/appctrl/DeviceInitCtrlService.java → src/main/java/a8k/service/app/devicedriver/ctrl/DeviceInitCtrlService.java

@@ -1,4 +1,4 @@
-package a8k.service.app.appctrl;
+package a8k.service.app.devicedriver.ctrl;
 
 import a8k.hardware.A8kCanBusService;
 import a8k.hardware.type.a8kcanprotocol.A8kEcode;
@@ -6,6 +6,7 @@ import a8k.hardware.type.a8kcanprotocol.IOId;
 import a8k.hardware.type.a8kcanprotocol.MId;
 import a8k.service.bases.ActionReactorService;
 import a8k.service.debug.AppDebugHelperService;
+import a8k.type.CheckPointType;
 import a8k.type.checkpoint.CheckResult;
 import a8k.type.checkpoint.Checkpoint;
 import a8k.service.app.appstate.GStateService;
@@ -21,25 +22,19 @@ import java.util.List;
 @Component
 public class DeviceInitCtrlService {
 
-
 	@Resource
-	ActionReactorService ar;
-
-	List<Checkpoint> checkPoints = new ArrayList<>();
-
+	GStateService         gstate;
 	@Resource
-	A8kCanBusService canBus;
-
+	ActionReactorService  actionReactor;
 	@Resource
-	HbotModule hbotModule;
-
+	A8kCanBusService      canBus;
 	@Resource
-	GStateService gstate;
-
+	HbotModule            hbotModule;
 	@Resource
 	AppDebugHelperService appDebugHelper;
 
-	Integer actionOvertime = 10000;
+	Integer          actionOvertime = 10000;
+	List<Checkpoint> checkPoints    = new ArrayList<>();
 
 	@PostConstruct
 	void init() {
@@ -55,20 +50,20 @@ public class DeviceInitCtrlService {
 				CheckPointType.CHECK_PUSHERM_IN_IN_ZEROPOS, () -> canBus.getIOState(IOId.PusherMZeroPPS)));
 		checkPoints.add(new Checkpoint("检查垃圾箱是否满",//
 				CheckPointType.CHECK_RECYCLE_BIN_IS_OVERFLOW, () -> !canBus.getIOState(IOId.RecycleBinOverflowPPS)));
-
 	}
 
 
 	public List<CheckResult> checkBeforeInitDevice() throws AppException {
-		if (appDebugHelper.isDebug()) {
-			return appDebugHelper.checkBeforeInitDevice();
-		}
 		List<CheckResult> results = new java.util.ArrayList<>();
 		for (Checkpoint checkPoint : checkPoints) {
 			CheckResult result = new CheckResult();
 			result.type       = checkPoint.type;
 			result.typechinfo = checkPoint.typechinfo;
-			result.pass       = checkPoint.checkfn.check();
+			if (!appDebugHelper.isDebug()) {
+				result.pass = checkPoint.checkfn.check();
+			} else {
+				result.pass = true;
+			}
 			results.add(result);
 		}
 		return results;
@@ -97,35 +92,26 @@ public class DeviceInitCtrlService {
 		if (!suc) {
 			throw new AppException(A8kEcode.APPE_CHECK_POINT_CHECK_FAIL);
 		}
-
 		//进出料初始化
-		ar.dosome("入料平移电机回零", () -> canBus.stepMotorEasyMoveToZeroBlock(MId.FeedingModXM, actionOvertime));
-		ar.dosome("摇匀模组-扫码夹紧舵机回零", () -> canBus.miniServoMoveToBlock(MId.ShakeModTubeScanerClampingSV, 20, actionOvertime));
-		ar.dosome("摇匀模组-夹爪舵机回零", () -> canBus.miniServoMoveToBlock(MId.ShakeModGripperSV, 300, actionOvertime));
-		ar.dosome("摇匀模组-夹爪Y轴舵机回零", () -> canBus.miniServoMoveToBlock(MId.ShakeModGripperYSV, 300, actionOvertime));
-		ar.dosome("摇匀模组-夹紧电机回零", () -> canBus.stepMotorEasyMoveToZeroBlock(MId.ShakeModClampingM, actionOvertime));
-		ar.dosome("摇匀模组-夹爪Z轴电机回零", () -> canBus.stepMotorEasyMoveToZeroBlock(MId.ShakeModGripperZM, actionOvertime));
-		ar.dosome("摇匀模组-摇匀电机回零", () -> canBus.stepMotorEasyMoveToZeroBlock(MId.ShakeModShakeM, actionOvertime));
-		ar.dosome("摇匀模组-摇匀电机摆动90度", () -> canBus.stepMotorEasyMoveTo(MId.ShakeModShakeM, 90));
-
+		actionReactor.dosome("入料平移电机回零", () -> canBus.stepMotorEasyMoveToZeroBlock(MId.FeedingModXM, actionOvertime));
+		actionReactor.dosome("摇匀模组-扫码夹紧舵机回零", () -> canBus.miniServoMoveToBlock(MId.ShakeModTubeScanerClampingSV, 20, actionOvertime));
+		actionReactor.dosome("摇匀模组-夹爪舵机回零", () -> canBus.miniServoMoveToBlock(MId.ShakeModGripperSV, 300, actionOvertime));
+		actionReactor.dosome("摇匀模组-夹爪Y轴舵机回零", () -> canBus.miniServoMoveToBlock(MId.ShakeModGripperYSV, 300, actionOvertime));
+		actionReactor.dosome("摇匀模组-夹紧电机回零", () -> canBus.stepMotorEasyMoveToZeroBlock(MId.ShakeModClampingM, actionOvertime));
+		actionReactor.dosome("摇匀模组-夹爪Z轴电机回零", () -> canBus.stepMotorEasyMoveToZeroBlock(MId.ShakeModGripperZM, actionOvertime));
+		actionReactor.dosome("摇匀模组-摇匀电机回零", () -> canBus.stepMotorEasyMoveToZeroBlock(MId.ShakeModShakeM, actionOvertime));
+		actionReactor.dosome("摇匀模组-摇匀电机摆动90度", () -> canBus.stepMotorEasyMoveTo(MId.ShakeModShakeM, 90));
 		//板夹仓初始化
-		ar.dosome("板夹仓Y轴电机回零", () -> canBus.stepMotorEasyMoveToZeroBlock(MId.PlatesBoxYM, actionOvertime));
-		ar.dosome("板夹仓推板电机回零", () -> canBus.stepMotorEasyMoveToZeroBlock(MId.PlatesBoxPusherM, actionOvertime));
-
+		actionReactor.dosome("板夹仓Y轴电机回零", () -> canBus.stepMotorEasyMoveToZeroBlock(MId.PlatesBoxYM, actionOvertime));
+		actionReactor.dosome("板夹仓推板电机回零", () -> canBus.stepMotorEasyMoveToZeroBlock(MId.PlatesBoxPusherM, actionOvertime));
 		//光学模组初始化
-		ar.dosome("光学模组-拉杆电机回零", () -> canBus.stepMotorEasyMoveToZeroBlock(MId.OptModPullM, actionOvertime));
-		ar.dosome("光学模组-扫码电机回零", () -> canBus.stepMotorEasyMoveToZeroBlock(MId.OptModScannerM, actionOvertime));
-
+		actionReactor.dosome("光学模组-拉杆电机回零", () -> canBus.stepMotorEasyMoveToZeroBlock(MId.OptModPullM, actionOvertime));
+		actionReactor.dosome("光学模组-扫码电机回零", () -> canBus.stepMotorEasyMoveToZeroBlock(MId.OptModScannerM, actionOvertime));
 		//HBot初始化
-		ar.dosome("HBot回零", () -> hbotModule.moveToZero());
-
+		actionReactor.dosome("HBot回零", () -> hbotModule.moveToZeroBlock());
 		//转盘归零
-		ar.dosome("转盘回零", () -> canBus.stepMotorEasyMoveToZeroBlock(MId.IncubatorRotateCtrlM, actionOvertime));
-
+		actionReactor.dosome("转盘回零", () -> canBus.stepMotorEasyMoveToZeroBlock(MId.IncubatorRotateCtrlM, actionOvertime));
 		gstate.setDeviceInited(true);
 	}
 
-
-	//	setDeviceInited
-
 }

src/main/java/a8k/service/app/devicedriver/testscript/TestScript.java

@@ -11,7 +11,7 @@ import a8k.service.app.devicedriver.ctrl.SamplesPreProcesCtrl;
 import a8k.service.app.devicedriver.ctrl.SampleScanTransportHardwareControler;
 import a8k.hardware.A8kCanBusService;
 import a8k.hardware.type.a8kcanprotocol.A8kEcode;
-import a8k.service.app.devicedriver.basectrl.HbotBaseMoveControlService;
+import a8k.service.app.devicedriver.basectrl.HbotBaseMoveControler;
 import a8k.service.app.devicedriver.ctrl.ReactionPlatesTransmitCtrl;
 import a8k.service.app.devicedriver.param.DebugParam;
 import a8k.service.app.devicedriver.param.PosParam;
@@ -45,7 +45,7 @@ public class TestScript {
 	ApplicationContext appCxt;
 
 	@Resource
-	HbotBaseMoveControlService hbotcs;
+	HbotBaseMoveControler hbotcs;
 
 	@Resource
 	TimeParam  timep;
@@ -63,7 +63,7 @@ public class TestScript {
 	@Resource
 	SampleScanTransportHardwareControler sampleScanTransportHardwareControler;
 
-	EnginnerParamReader settingReader = new EnginnerParamReader(HbotBaseMoveControlService.class);
+	EnginnerParamReader settingReader = new EnginnerParamReader(HbotBaseMoveControler.class);
 
 	//	+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 	//	测试

src/main/java/a8k/service/debug/AppDebugHelperService.java

@@ -9,9 +9,9 @@ import a8k.hardware.type.a8kcanprotocol.A8kEcode;
 import a8k.hardware.type.a8kcanprotocol.CmdId;
 import a8k.hardware.type.a8kcanprotocol.MId;
 import a8k.service.app.appctrl.AppDeviceCtrlService;
-import a8k.service.app.appctrl.CheckPointType;
-import a8k.service.app.appctrl.MainFlowCtrlService;
-import a8k.service.app.appctrl.TubeSettingMgrService;
+import a8k.type.CheckPointType;
+import a8k.service.app.appctrl.AppMainFlowCtrlService;
+import a8k.service.app.appctrl.AppTubeSettingMgrService;
 import a8k.service.app.appctrl.mainflowctrl.CondtionMgrService;
 import a8k.service.app.appctrl.mainflowctrl.base.A8kActionStepType;
 import a8k.service.app.appctrl.mainflowctrl.base.A8kErrorContext;
@@ -259,8 +259,8 @@ public class AppDebugHelperService {
 
 	@ExtApiFn(name = "获取运行步骤状态", group = "调试")
 	public List<A8kStepAction> getA8kStepActionList() {
-		MainFlowCtrlService mainFlowCtrlService = SpringBootBeanUtil.getBean(MainFlowCtrlService.class);
-		return mainFlowCtrlService.getA8kStepActionList();
+		AppMainFlowCtrlService appMainFlowCtrlService = SpringBootBeanUtil.getBean(AppMainFlowCtrlService.class);
+		return appMainFlowCtrlService.getA8kStepActionList();
 	}
 
 	@ExtApiFn(name = "获取设备状态()", group = "调试")
@@ -300,15 +300,15 @@ public class AppDebugHelperService {
 
 		//添加试管配置
 		logger.info("添加试管配置");
-		TubeSettingMgrService tubeSettingMgrService = SpringBootBeanUtil.getBean(TubeSettingMgrService.class);
-		tubeSettingMgrService.newTubeHolderSetting();
-		TubeHolderSetting setting = tubeSettingMgrService.newTubeHolderSettingV2();
+		AppTubeSettingMgrService appTubeSettingMgrService = SpringBootBeanUtil.getBean(AppTubeSettingMgrService.class);
+		appTubeSettingMgrService.newTubeHolderSetting();
+		TubeHolderSetting setting = appTubeSettingMgrService.newTubeHolderSettingV2();
 		for (int i = 0; i < 10; i++) {
-			tubeSettingMgrService.setTubeSettingUserIdAndSampleBarcode(setting.uuid, i, String.format("USR%d", i), "");
-			tubeSettingMgrService.setTubeSetting(setting.uuid, i, BloodType.WHOLE_BLOOD,//
+			appTubeSettingMgrService.setTubeSettingUserIdAndSampleBarcode(setting.uuid, i, String.format("USR%d", i), "");
+			appTubeSettingMgrService.setTubeSetting(setting.uuid, i, BloodType.WHOLE_BLOOD,//
 					String.format("%d,%d,%d,%d,%d,%d", p01_hscrr.projIndex, p02_pct.projIndex, p03_tsh.projIndex, p05_t3.projIndex, p06_t4.projIndex, p22_pctAndHsCRP.projIndex));
 		}
-		tubeSettingMgrService.tubeHodlerSettingSetActiveState(setting.uuid, true);
+		appTubeSettingMgrService.tubeHodlerSettingSetActiveState(setting.uuid, true);
 
 		//初始化设备
 		logger.info("初始化设备");
@@ -422,28 +422,6 @@ public class AppDebugHelperService {
 	}
 
 
-	public List<CheckResult> checkBeforeInitDevice() throws AppException {
-		List<Checkpoint>  checkPoints = new ArrayList<>();
-		List<CheckResult> resultss    = new java.util.ArrayList<>();
-
-		checkPoints.add(new Checkpoint("入料通道是否为空", CheckPointType.CHECK_PLATE_BOX_IS_COVER, () -> true));
-		checkPoints.add(new Checkpoint("板夹仓盖子是否盖着", CheckPointType.CHECK_PLATE_BOX_IS_COVER, () -> true));
-		checkPoints.add(new Checkpoint("板夹仓卡板检测", CheckPointType.CHECK_PLATE_STUCK_DETECTOR_SENSOR_IS_TRIGGER, () -> true));
-		checkPoints.add(new Checkpoint("检查拉杆电机是否在零点位置", CheckPointType.CHECK_PULLERM_IS_IN_ZEROPOS, () -> true));
-		checkPoints.add(new Checkpoint("检查推杆电机是否在零点位置", CheckPointType.CHECK_PUSHERM_IN_IN_ZEROPOS, () -> true));
-		checkPoints.add(new Checkpoint("检查垃圾箱是否满", CheckPointType.CHECK_RECYCLE_BIN_IS_OVERFLOW, () -> true));
-
-
-		for (Checkpoint checkPoint : checkPoints) {
-			CheckResult result = new CheckResult();
-			result.type       = checkPoint.type;
-			result.typechinfo = checkPoint.typechinfo;
-			result.pass       = checkPoint.checkfn.check();
-			resultss.add(result);
-		}
-		return resultss;
-	}
-
 	synchronized public Boolean getTubeholderEnterPosPPS() {
 		return tubeHolderScanResult != null;
 	}

src/main/java/a8k/service/app/appctrl/CheckPointType.java → src/main/java/a8k/type/CheckPointType.java

@@ -1,4 +1,4 @@
-package a8k.service.app.appctrl;
+package a8k.type;
 
 public enum CheckPointType {
 	CHECK_TUBE_XCHANNEL_IS_EMPTY,//入料通道是否为空