update

src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ5_PROCESS.java

@@ -1,8 +1,6 @@
 package a8k.service.app.appctrl.mainflowctrl.action;
 
 import a8k.OS;
-import a8k.constant.LogTopic;
-import a8k.hardware.type.a8kcanprotocol.A8kEcode;
 import a8k.service.app.appctrl.mainflowctrl.PublicAreaResourceMgr;
 import a8k.service.app.appctrl.mainflowctrl.base.*;
 import a8k.service.app.appstate.statemgr.IncubationPlateStateMgrService;
@@ -12,16 +10,29 @@ import a8k.service.app.appstate.type.ProjectTaskContext;
 import a8k.service.app.appstate.type.Tube;
 import a8k.service.app.appstate.type.TubeHolder;
 import a8k.service.app.appstate.type.state.TubeState;
+import a8k.service.app.devicectrl.ctrlservice.HbotCtrlService;
 import a8k.service.app.devicectrl.ctrlservice.PlateBoxCtrlService;
 import a8k.service.app.devicectrl.ctrlservice.TubePreProcesCtrlService;
-import a8k.service.app.devicectrl.script.DeviceCtrlScripter;
+import a8k.service.app.devicectrl.ctrlservice.TurnableMoveCtrlService;
+import a8k.service.app.devicectrl.driver.PipetteCtrlDriver;
+import a8k.service.app.devicectrl.exdriver.HbotBaseMoveExDriver;
+import a8k.service.app.devicectrl.param.ext_param_mgr.HbotConsumableParamMgr;
+import a8k.service.app.devicectrl.param.ext_param_mgr.PipetteGunParamExMgr;
+import a8k.service.app.devicectrl.param.ext_param_mgr.base.PipetteGunBindActionType;
+import a8k.service.app.devicectrl.param.param_mgr.HbotFixedPosParamMgr;
+import a8k.service.app.devicectrl.param.param_mgr.HbotSamplePosParamMgr;
+import a8k.service.app.devicectrl.param.type.A8kSamplePos;
+import a8k.service.app.devicectrl.script.PipeGunCtrlScripter;
 import a8k.service.app.erroranalyzer.ErrorAnalyzer;
+import a8k.service.dao.type.a8kidcard.zenum.A8kReactionFlowType;
 import a8k.service.test.state.TestModeState;
 import a8k.service.test.state.VirtualDevice;
+import a8k.type.ConsumableGroup;
 import a8k.type.IncubatorPos;
 import a8k.type.ecode.AppError;
 import a8k.type.exception.AppException;
 import a8k.type.exception.ZAppInterruptException;
+import a8k.type.pos.Consumable;
 import a8k.type.type.A8kTubeHolderType;
 import a8k.utils.ProjInfoUtils;
 import a8k.utils.ProjProcessContextUtils;
@@ -72,11 +83,31 @@ public class SEQ5_PROCESS extends A8kStepAction {
 	//	CtrlService
 	//
 	@Resource
-	DeviceCtrlScripter             deviceCtrlScripter;
+	PipeGunCtrlScripter pipeGunCtrlScripter;
 	@Resource
 	PlateBoxCtrlService plateBoxCtrlService;
 	@Resource
 	TubePreProcesCtrlService       tubePreProcesCtrlService;
+	@Resource
+	PipetteCtrlDriver              pipetteCtrlDriver;
+	@Resource
+	HbotBaseMoveExDriver           hbotBaseMoveExDriver;
+	@Resource
+	HbotCtrlService                hbotCtrlService;
+	@Resource
+	TurnableMoveCtrlService        turnableMoveCtrlService;
+
+	//
+	//	Param
+	//
+	@Resource
+	HbotSamplePosParamMgr  hbotSamplePosParamMgr;
+	@Resource
+	HbotConsumableParamMgr hbotConsumableParamMgr;
+	@Resource
+	HbotFixedPosParamMgr   hbotFixedPosParamMgr;
+	@Resource
+	PipetteGunParamExMgr   pipetteGunParamExMgr;
 
 
 	//
@@ -209,8 +240,6 @@ public class SEQ5_PROCESS extends A8kStepAction {
 	//
 	//			REAL
 	//
-
-
 	void samplePrepare() throws AppException, ZAppInterruptException {
 		Tube       tube       = tubeStateMgrService.getCurProcessingTube();
 		TubeHolder tubeHolder = tubeStateMgrService.getTubeHolder();
@@ -280,31 +309,162 @@ public class SEQ5_PROCESS extends A8kStepAction {
 		List<ProjectTaskContext> cxts = projectContextMgrService.findCxts(tube.getSampleId());
 		Assert.isTrue(!cxts.isEmpty(), "项目上下文不能为空");
 
-
+		for (ProjectTaskContext cxt : cxts) {
 			try (
 					var ignored = publicAreaResourceMgr.apply(this.getClass(), PublicAreaResource.HbotArea);
 			) {
-			for (ProjectTaskContext cxt : cxts) {
-				deviceCtrlScripter.doSampleProcessPrepare(cxt);
+				doSampleProcess(cxt);
+			}
+		}
+
+
+		sampleProcessFinished.set();
+	}
+
+	void doSampleFlowType1PreProcess(ProjectTaskContext cxt) throws AppException, ZAppInterruptException {
+		Consumable      consumable      = cxt.getConsumable();
+		ConsumableGroup consumableGroup = consumable.getGroup();
+		Integer         consumablePos   = consumable.getPos();
+
+		log.info(" FlowType1->取TIP {}", cxt.getTopTip());
+		hbotCtrlService.takeTip(cxt.takeTip());
+		log.info(" FlowType1->刺破小缓冲液 {} {}", consumableGroup, consumablePos);
+		hbotCtrlService.moveToLittleBufferPiercePos(consumableGroup, consumablePos);
+		log.info(" FlowType1->hbot归零");
+		hbotCtrlService.quickResetHbot();
+	}
+
+	void doSampleFlowType2PreProcess(ProjectTaskContext cxt) throws AppException, ZAppInterruptException {
+		Consumable      consumable      = cxt.getConsumable();
+		ConsumableGroup consumableGroup = consumable.getGroup();
+		Integer         consumablePos   = consumable.getPos();
+
+		Integer largeBsVolume = ProjProcessContextUtils.getTakeLargeBSVolume(cxt);
+		log.info(" FlowType2->取TIP {}", cxt.getTopTip());
+		hbotCtrlService.takeTip(cxt.takeTip());//取tip
+		log.info(" FlowType2->刺破探测物质 {} {}", consumableGroup, consumablePos);
+		hbotCtrlService.moveToProbeSubstancePiercePos(consumableGroup, consumablePos);//刺破探测物质
+		log.info(" FlowType2->等待LDD准备完成");
+		pipetteCtrlDriver.lldPrepareBlock();
+		log.info(" FlowType2->移动到大缓冲液取液位 {}", consumableGroup);
+		hbotCtrlService.moveToLargeBSSamplePos(consumableGroup);//移动到取样位置
+		log.info(" FlowType2->液面探测准备");
+		pipeGunCtrlScripter.lld(PipetteGunBindActionType.TAKE_LARGE_BUFFER_SOLUTION, cxt); //优化这个方法的接口，尽量去除掉cxt
+		log.info(" FlowType2->取液准备");
+		pipetteCtrlDriver.aspiratePrepareBlock();//取液.准备
+		log.info(" FlowType2->取液 {}", largeBsVolume);
+		pipeGunCtrlScripter.aspirate(PipetteGunBindActionType.TAKE_LARGE_BUFFER_SOLUTION, cxt, largeBsVolume);//取液
+		log.info(" FlowType2->移动到探测物质吐液位 {}", consumableGroup);
+		hbotCtrlService.moveToProbeSubstanceSamplePos(consumableGroup, consumablePos);//移动到吐液位
+		log.info(" FlowType2->吐液 {}", largeBsVolume);
+		pipeGunCtrlScripter.distribute(PipetteGunBindActionType.DISTRIBUTION_LARGE_BUFFER_SOLUTION_PROBE_SUBSTANCE, cxt, largeBsVolume);//吐液
+		log.info(" FlowType2->hbot归零");
+		hbotCtrlService.quickResetHbot();
+	}
+
+
+	void doSampleProcess(ProjectTaskContext cxt) throws AppException, ZAppInterruptException {
+		A8kReactionFlowType type            = cxt.getProjBuildinInfo().projBaseInfo.reactionFlowType;
+		Consumable          consumable      = cxt.getConsumable();
+		ConsumableGroup     consumableGroup = consumable.getGroup();
+		Integer             consumablePos   = consumable.getPos();
+
+		//TODO:可以提速的点
+		//		1. 在取tip之后，就让移液枪移动到lldprepare的位置（新增一条指令,这条指令在单片机端也是非阻塞的），到lld位置时，在执行lldprepare的指令，这样即不破坏现有框架，也可以提速
+		//
 
+
+		if (type.equals(A8kReactionFlowType.FlowType1)) {
+			log.info("FlowType1:");
+			doSampleFlowType1PreProcess(cxt);
+
+			//	!!! 等待样本准备完成 !!!
 			sampleIsReady.waitTrue();
-				deviceCtrlScripter.doSampleProcess(cxt);
 
-				reactionPlateReady.waitTrue();
+			// 取样
+			try (
+					var ignored11 = publicAreaResourceMgr.apply(this.getClass(), PublicAreaResource.TubeSampleProcessAndTubeChannelArea);
+			) {
+				log.info(" FlowType1->取样");
+				takeSample(cxt);
+				log.info(" FlowType1->移动到初步反应位");
+				hbotCtrlService.moveToLittleBufferSamplePos(consumableGroup, consumablePos);
+			}
 
+		} else if (type.equals(A8kReactionFlowType.FlowType2)) {
+			log.info("FlowType2:");
+			doSampleFlowType2PreProcess(cxt);
+
+			//	!!! 等待样本准备完成 !!!
+			sampleIsReady.waitTrue();
+
+			// 取样
 			try (
-						var ignored1 = publicAreaResourceMgr.apply(this.getClass(), PublicAreaResource.IncubationPlateArea);
+					var ignored11 = publicAreaResourceMgr.apply(this.getClass(), PublicAreaResource.TubeSampleProcessAndTubeChannelArea);
 			) {
-					deviceCtrlScripter.doSampleProcessPostProcess(cxt);
+				log.info(" FlowType2->取样");
+				takeSample(cxt);
+				log.info(" FlowType2->移动到初步反应位");
+				hbotCtrlService.moveToProbeSubstanceSamplePos(consumableGroup, consumablePos);
+			}
+		}
+
+
+		// 初步反应处理
+		{
+			Integer sampleul   = ProjProcessContextUtils.getSampleVol(cxt);
+			Integer reactionul = ProjProcessContextUtils.getReactionPlateDropletVolUl(cxt);
+			log.info(" FlowTypeX->吐液 {}", sampleul);
+			pipeGunCtrlScripter.aspirateNoLLF(-sampleul);
+			log.info(" FlowTypeX->吸吐混匀 {}ul {} times", reactionul, ProjProcessContextUtils.getBSMixingCnt(cxt));
+			pipeGunCtrlScripter.mix(PipetteGunBindActionType.MIX_REACTION_LIQUOR, cxt, sampleul, ProjProcessContextUtils.getBSMixingCnt(cxt));
 		}
+
+		// 取初步反应混合液到反应板
+		try (
+				var ignored11 = publicAreaResourceMgr.apply(this.getClass(), PublicAreaResource.IncubationPlateArea);
+		) {
+			Integer reactionul = ProjProcessContextUtils.getReactionPlateDropletVolUl(cxt);
+			log.info(" FlowTypeX->吸液 {}", reactionul);
+			pipeGunCtrlScripter.aspirateNoLLF(reactionul);
+			log.info(" FlowTypeX->吐液到反应板");
+			hbotCtrlService.moveTo(hbotFixedPosParamMgr.getDropLiquidPos());
+			pipeGunCtrlScripter.distributeNoLLF(reactionul);
+			pipetteCtrlDriver.clearHangingLiquid(2);
+			pipetteCtrlDriver.zMotorMoveToZeroPointQuickBlock();
+
+			//孵育
 			cxt.setStartIncubatedTime(System.currentTimeMillis());
 			cxt.setIncubatedTimeSec(cxt.getProjBuildinInfo().projBaseInfo.reactionPlateIncubationTimeMin * 60);
-
 		}
+
+		log.info(" FlowTypeX->Hbot复位");
+		hbotCtrlService.moveQuickToZero();
+
 	}
 
 
-		sampleProcessFinished.set();
+	public void takeSample(ProjectTaskContext ctx) throws AppException {
+		Integer      sampleul  = ProjProcessContextUtils.getSampleVol(ctx);
+		A8kSamplePos samplePos = ProjProcessContextUtils.getSamplePos(ctx);
+
+		log.info("      -->取样准备");
+		hbotCtrlService.takeTip(ctx.takeTip());
+		log.info("      -->移动到取样位置 {}", samplePos);
+		hbotCtrlService.moveToSamplePosXY(samplePos);
+		log.info("      -->液面探测准备");
+		pipetteCtrlDriver.lldPrepareBlock();
+		log.info("      -->液面探测");
+		pipeGunCtrlScripter.lld(PipetteGunBindActionType.SAMPLE, ctx);
+		log.info("      -->取液准备");
+		pipetteCtrlDriver.aspiratePrepareBlock();
+		if (ProjProcessContextUtils.isDoMixTubeSample(ctx)) {
+			log.info("      -->吸吐混匀 {}", ProjProcessContextUtils.getTubeMixingCount(ctx));
+			pipeGunCtrlScripter.mix(PipetteGunBindActionType.MIX_SAMPLE, ctx, sampleul, ProjProcessContextUtils.getTubeMixingCount(ctx));
+		}
+		log.info("      -->取样 {}", sampleul);
+		pipeGunCtrlScripter.aspirate(PipetteGunBindActionType.SAMPLE, ctx, sampleul);
+
 	}
 
 

src/main/java/a8k/service/app/appstate/type/ProjectTaskContext.java

@@ -110,6 +110,12 @@ public class ProjectTaskContext {
 		return tipPos.remove(0);
 	}
 
+	synchronized public TipPos getTopTip() {
+		if (tipPos == null || tipPos.isEmpty()) {
+			return null;
+		}
+		return tipPos.get(0);
+	}
 
 	synchronized public OptScanResult getfOptScanResult(A8kOptType optType) {
 		return switch (optType) {

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

@@ -1,6 +1,5 @@
 package a8k.service.app.devicectrl.ctrlservice;
 
-import a8k.constant.LogTopic;
 import a8k.hardware.A8kCanBusService;
 import a8k.hardware.type.a8kcanprotocol.IOId;
 import a8k.service.app.devicectrl.driver.MiniServoDriver;
@@ -10,7 +9,6 @@ import a8k.service.app.devicectrl.driver.type.MiniServoMId;
 import a8k.service.app.devicectrl.driver.type.StepMotorMId;
 import a8k.service.app.devicectrl.exdriver.HbotBaseMoveExDriver;
 import a8k.service.app.devicectrl.exdriver.MotorEnableExDriver;
-import a8k.service.app.devicectrl.script.DeviceCtrlScripter;
 
 import a8k.service.test.state.VirtualDevice;
 import a8k.type.CheckPointType;
@@ -60,8 +58,7 @@ public class DeviceInitCtrlService {
 	TubeFeedingCtrlService tubeFeedingCtrlService;
 	@Resource
 	HbotCtrlService        hbotCtrlService;
-	@Resource
-	DeviceCtrlScripter     deviceCtrlScripter;
+
 	@Resource
 	HbotBaseMoveExDriver   hbotBaseMoveExDriver;
 
@@ -148,7 +145,12 @@ public class DeviceInitCtrlService {
 		gstate.setDeviceInited(true);
 
 		//弹出无效物料
-		deviceCtrlScripter.dropAllPlates();
+		log.error("TODO:..............................清空孵育盘");
+		log.error("TODO:..............................清空孵育盘");
+		log.error("TODO:..............................清空孵育盘");
+		log.error("TODO:..............................清空孵育盘");
+		log.error("TODO:..............................清空孵育盘");
+
 		//弹出试管架
 		tubeFeedingCtrlService.ejectTubeHolder();
 		//丢弃tip头

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

@@ -9,6 +9,7 @@ import a8k.service.app.devicectrl.driver.PipetteCtrlDriver;
 import a8k.service.app.devicectrl.param.ext_param_mgr.HbotConsumableParamMgr;
 import a8k.service.app.devicectrl.param.param_mgr.HbotFixedPosParamMgr;
 import a8k.service.app.devicectrl.param.param_mgr.HbotSamplePosParamMgr;
+import a8k.service.app.devicectrl.param.type.A8kSamplePos;
 import a8k.type.ConsumableGroup;
 import a8k.service.app.devicectrl.param.type.HbotSamplePos;
 import a8k.type.pos.TipPos;
@@ -96,6 +97,14 @@ public class HbotCtrlService {
 		}
 	}
 
+	public void quickResetHbot() throws AppException {
+		hbotBaseMoveExDriver.hbotMoveTo(hbotTipPosMgr.getDropTipPos());
+		pipetteCtrlDriver.pipetteInitDeviceBlock();
+		hbotBaseMoveExDriver.hbotMoveTo(new Pos3d(0, 0, 0));
+		hbotBaseMoveExDriver.moveToZero();
+	}
+
+
 	public Boolean isHasTip() throws AppException {
 		return pipetteCtrlDriver.isHasTip();
 	}
@@ -123,7 +132,7 @@ public class HbotCtrlService {
 	}
 
 	public void moveToLittleBufferSamplePos(ConsumableGroup group, Integer off) throws AppException {
-		hbotBaseMoveExDriver.hbotMoveTo(hbotConsumableParamMgr.getLittleBufferSamplePosEnd(group, off));
+		hbotBaseMoveExDriver.hbotMoveTo(hbotConsumableParamMgr.getLittleBufferSamplePos(group, off));
 	}
 
 	//	public void moveToProbeSubstanceSamplePos(ConsumableGroup group, Integer off) throws AppException {
@@ -139,12 +148,12 @@ public class HbotCtrlService {
 	}
 
 
-	public void moveToLargeBufferPos(ConsumableGroup group) throws AppException {
+	public void moveToLargeBSSamplePos(ConsumableGroup group) throws AppException {
 		Pos3d toPos = hbotConsumableParamMgr.getLargeBufferSamplePos(group);
 		hbotBaseMoveExDriver.hbotMoveTo(toPos);
 	}
 
-	public void moveToLargeBufferPosEnd(ConsumableGroup group) throws AppException {
+	public void moveToLargeBSSampleEndPos(ConsumableGroup group) throws AppException {
 		Pos3d toPos = hbotConsumableParamMgr.getLargeBufferSamplePosEnd(group);
 		hbotBaseMoveExDriver.hbotMoveTo(toPos);
 	}
@@ -154,6 +163,17 @@ public class HbotCtrlService {
 		hbotBaseMoveExDriver.hbotMoveTo(hbotSamplePosParamMgr.getSamplePos(pos));
 	}
 
+	public void moveToSampleStartPos(A8kSamplePos pos) throws AppException {
+		hbotBaseMoveExDriver.hbotMoveTo(hbotSamplePosParamMgr.getSampleStartPos(pos));
+	}
+
+	public void moveToSamplePosXY(A8kSamplePos pos) throws AppException {
+		var topos = hbotSamplePosParamMgr.getSampleStartPos(pos);
+		topos.z = 0;
+		hbotBaseMoveExDriver.hbotMoveTo(topos);
+	}
+
+
 	public void moveTo(Pos3d pos) throws AppException {
 		hbotBaseMoveExDriver.hbotMoveTo(pos);
 	}

src/main/java/a8k/service/app/devicectrl/param/calibration/HbotLargeBottleBSPosCalibration.java

@@ -12,18 +12,14 @@ import a8k.service.app.devicectrl.ctrlservice.HbotCtrlService;
 import a8k.service.app.devicectrl.param.param_mgr.HbotLargeBottleBSPosMgr;
 import a8k.type.*;
 import a8k.type.cfg.Pos2d;
-import a8k.type.cfg.Pos3d;
 import a8k.type.exception.AppException;
 import a8k.utils.ZJsonHelper;
-import a8k.utils.ZSimplAlgo;
 import com.fasterxml.jackson.databind.node.ObjectNode;
 import jakarta.annotation.Resource;
 import org.aspectj.lang.annotation.Aspect;
 import org.slf4j.Logger;
 import org.springframework.stereotype.Component;
 
-import java.util.List;
-
 @ExtApiTab(cfg = ExtApiTabConfig.HbotLargeBottleBSPosCalibration)
 @Component
 @Aspect
@@ -230,7 +226,7 @@ public class HbotLargeBottleBSPosCalibration {
 		enableModule();
 		pipetteCtrlDriver.zMotorMoveZeroBlock();
 		for (ConsumableGroup group : ConsumableGroup.values()) {
-			hbotCtrlService.moveToLargeBufferPosEnd(group);
+			hbotCtrlService.moveToLargeBSSampleEndPos(group);
 			pipetteCtrlDriver.zMotorMoveToZeroPointQuickBlock();
 			if (checkStopFlag())
 				break;

src/main/java/a8k/service/app/devicectrl/param/ext_param_mgr/HbotConsumableParamMgr.java

@@ -37,8 +37,8 @@ public class HbotConsumableParamMgr {
 		return hbotLittleBSPosMgr.getPiercePos(group, off);
 	}
 
-	public Pos3d getLittleBufferSamplePosEnd(ConsumableGroup group, Integer off) {
-		return hbotLittleBSPosMgr.getSampleEndPos(group, off);
+	public Pos3d getLittleBufferSamplePos(ConsumableGroup group, Integer off) {
+		return hbotLittleBSPosMgr.getSamplePos(group, off);
 	}
 
 

src/main/java/a8k/service/app/devicectrl/param/param_mgr/HbotLittleBSPosMgr.java

@@ -29,7 +29,7 @@ public class HbotLittleBSPosMgr extends ParamMgr {
 			for (int i = 0; i < 25; i++) {
 				getConsumablePos(group, i);
 				getPiercePos(group, i);
-				getSampleEndPos(group, i);
+				getSamplePos(group, i);
 			}
 		}
 	}
@@ -70,7 +70,7 @@ public class HbotLittleBSPosMgr extends ParamMgr {
 		return pos;
 	}
 
-	public Pos3d getSampleEndPos(ConsumableGroup group, Integer off) {
+	public Pos3d getSamplePos(ConsumableGroup group, Integer off) {
 		Pos3d pos = getConsumablePos(group, off);
 		pos.z = getParam(HbotLittleBSPos.LittleBSSampleZPos, Integer.class);
 		return pos;

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

@@ -1,274 +0,0 @@
-package a8k.service.app.devicectrl.script;
-
-import a8k.service.app.appstate.type.ProjectTaskContext;
-import a8k.service.app.devicectrl.ctrlservice.HbotCtrlService;
-import a8k.service.app.devicectrl.ctrlservice.OptScanModuleCtrlService;
-import a8k.service.app.devicectrl.ctrlservice.TurnableMoveCtrlService;
-import a8k.service.app.devicectrl.driver.PipetteCtrlDriver;
-import a8k.service.app.devicectrl.exdriver.HbotBaseMoveExDriver;
-import a8k.service.app.devicectrl.param.ext_param_mgr.HbotConsumableParamMgr;
-import a8k.service.app.devicectrl.param.ext_param_mgr.base.PipetteGunBindActionType;
-import a8k.service.app.devicectrl.param.ext_param_mgr.base.LLDParamPack;
-import a8k.service.app.devicectrl.param.ext_param_mgr.PipetteGunParamExMgr;
-import a8k.service.app.devicectrl.param.ext_param_mgr.base.LLFParamPack;
-import a8k.service.app.devicectrl.param.param_mgr.HbotFixedPosParamMgr;
-import a8k.service.app.devicectrl.param.param_mgr.HbotSamplePosParamMgr;
-import a8k.service.app.devicectrl.param.type.A8kSamplePos;
-import a8k.service.dao.type.a8kidcard.zenum.A8kReactionFlowType;
-import a8k.type.cfg.Pos3d;
-import a8k.type.exception.AppException;
-import a8k.type.pos.Consumable;
-import a8k.type.pos.TipPos;
-import a8k.utils.ProjProcessContextUtils;
-import a8k.utils.ZAppChecker;
-import jakarta.annotation.Resource;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-import org.springframework.util.Assert;
-
-@Component
-@Slf4j
-public class DeviceCtrlScripter {
-
-
-	@Resource
-	PipetteCtrlDriver       pipetteCtrlDriver;
-	@Resource
-	HbotBaseMoveExDriver    hbotBaseMoveExDriver;
-	@Resource
-	HbotCtrlService         hbotCtrlService;
-	@Resource
-	TurnableMoveCtrlService turnableMoveCtrlService;
-
-	@Resource
-	HbotSamplePosParamMgr  hbotSamplePosParamMgr;
-	@Resource
-	HbotConsumableParamMgr hbotConsumableParamMgr;
-	@Resource
-	HbotFixedPosParamMgr   hbotFixedPosParamMgr;
-	@Resource
-	PipetteGunParamExMgr   pipetteGunParamExMgr;
-
-	@Resource
-	ZAppChecker zAppChecker;
-
-
-	@Resource
-	OptScanModuleCtrlService optScanModuleCtrlService;
-
-
-	public void dropAllPlates() throws AppException {
-		log.info("清空孵育盘");
-		//TODO:测试模式下不执行
-		//				actionReactor.dosome("丢板", () -> optScanModuleCtrlService.dropPlate());
-		//				for (var incubatorPos : IncubatorPos.values()) {
-		//					actionReactor.dosome("拉板" + incubatorPos.name(), () -> optScanModuleCtrlService.pullPlate(incubatorPos));
-		//					actionReactor.dosome("丢板", () -> optScanModuleCtrlService.dropPlate());
-		//				}
-	}
-
-
-	void aspirateNoLLF(Integer ul) throws AppException {
-		pipetteCtrlDriver.aspirateSetLlfVelocity(0);
-		pipetteCtrlDriver.aspirateBlock(ul);
-	}
-
-	void distributeNoLLF(Integer ul) throws AppException {
-		pipetteCtrlDriver.aspirateSetLlfVelocity(0);
-		pipetteCtrlDriver.aspirateBlock(-ul);
-	}
-
-
-	void distribute(PipetteGunBindActionType actionType, ProjectTaskContext ctx, Integer ul) throws AppException {
-		LLFParamPack llfParamPack = pipetteGunParamExMgr.getLLFParam(actionType, ctx);
-		pipetteCtrlDriver.aspirateSetLlfVelocity(llfParamPack.llfVel);
-		pipetteCtrlDriver.setLlfStartZ(llfParamPack.llfStartPos);
-		pipetteCtrlDriver.setLlfEndZ(llfParamPack.llfEndPos);
-		pipetteCtrlDriver.aspirateBlock(-ul);
-	}
-
-	void mix(PipetteGunBindActionType actionType, ProjectTaskContext ctx, Integer ul, Integer times) throws AppException {
-		LLFParamPack llfParamPack = pipetteGunParamExMgr.getLLFParam(actionType, ctx);
-		pipetteCtrlDriver.aspirateSetLlfVelocity(llfParamPack.llfVel);
-		pipetteCtrlDriver.setLlfStartZ(llfParamPack.llfStartPos);
-		pipetteCtrlDriver.setLlfEndZ(llfParamPack.llfEndPos);
-		pipetteCtrlDriver.shakeUpBlock(ul, times);
-	}
-
-
-	void aspirate(PipetteGunBindActionType actionType, ProjectTaskContext ctx, Integer ul) throws AppException {
-		LLFParamPack llfParamPack = pipetteGunParamExMgr.getLLFParam(actionType, ctx);
-		log.info("吸液 {} , llfvel {} , llfStartPos {} , llfEndPos {}", ul, llfParamPack.llfVel, llfParamPack.llfStartPos, llfParamPack.llfEndPos);
-
-		pipetteCtrlDriver.aspirateSetLlfVelocity(llfParamPack.llfVel);
-		pipetteCtrlDriver.setLlfStartZ(llfParamPack.llfStartPos);
-		pipetteCtrlDriver.setLlfEndZ(llfParamPack.llfEndPos);
-		pipetteCtrlDriver.aspirateBlock(ul);
-	}
-
-
-	void lld(PipetteGunBindActionType actionType, ProjectTaskContext ctx) throws AppException {
-		pipetteCtrlDriver.lldPrepareBlock();
-
-		log.info("液面探测 {}", actionType);
-		LLDParamPack lldparm        = pipetteGunParamExMgr.getLLDParam(actionType, ctx);
-		Pos3d        sampleStartPos = null;
-		Pos3d        sampleEndPos   = null;
-
-		//取tip,移动到样本所在的位置,并液面探测
-		switch (actionType) {
-			case SAMPLE -> {
-				A8kSamplePos samplePos = ProjProcessContextUtils.getSamplePos(ctx);
-				sampleStartPos = hbotSamplePosParamMgr.getSampleStartPos(samplePos);
-				sampleEndPos   = hbotSamplePosParamMgr.getSampleEndPos(samplePos);
-			}
-			case TAKE_LARGE_BUFFER_SOLUTION -> { //取大瓶缓冲液
-				var group = ctx.getConsumable().getGroup();
-				sampleStartPos = hbotConsumableParamMgr.getLargeBufferSamplePos(group);
-				sampleEndPos   = hbotConsumableParamMgr.getLargeBufferSamplePosEnd(group);
-			}
-		}
-
-		Assert.notNull(sampleStartPos, "sampleStartPos is null");
-		Assert.notNull(sampleEndPos, "sampleEndPos is null");
-
-		pipetteCtrlDriver.setStartZ(sampleStartPos.z);
-		pipetteCtrlDriver.setEndZ(sampleEndPos.z);
-		pipetteCtrlDriver.setLldType(lldparm.type);
-		pipetteCtrlDriver.setLldCThreshold(lldparm.cThreshold);
-		pipetteCtrlDriver.setLldPThreshold(lldparm.pThreshold);
-		pipetteCtrlDriver.lldBlock();
-	}
-
-
-	public void doSampleProcessPrepare(ProjectTaskContext ctx) throws AppException {
-		A8kReactionFlowType type = ctx.getProjBuildinInfo().projBaseInfo.reactionFlowType;
-		if (type.equals(A8kReactionFlowType.FlowType1)) {
-			log.info("样本预处理,刺破小瓶缓冲液");
-			/*
-			 *	刺破小瓶缓冲液
-			 */
-			TipPos tip = ctx.takeTip();
-			Assert.isTrue(tip != null, "tip is null");
-
-			Consumable consumable = ctx.getConsumable();
-
-			//取tip
-			hbotCtrlService.takeTip(tip);
-			//刺破
-			hbotCtrlService.moveToLittleBufferPiercePos(consumable.getGroup(), consumable.getPos());
-			//丢tip
-			hbotCtrlService.dropTip();
-			//待机
-			hbotCtrlService.moveQuickToZero();
-
-			//提前.取tip,
-			hbotCtrlService.takeTip(ctx.takeTip());
-		} else if (type.equals(A8kReactionFlowType.FlowType2)) {
-			log.info("样本预处理,取大瓶缓冲液液到探测物质中");
-			/*
-			 *	取大瓶缓冲液液到探测物质中
-			 */
-			//ldd准备
-
-			//取tip,
-			hbotCtrlService.takeTip(ctx.takeTip());
-
-			//移动到取样位置
-			Pos3d pos = hbotConsumableParamMgr.getLargeBufferSamplePos(ctx.getConsumable().getGroup());
-			pos.z = 0;
-			hbotCtrlService.moveTo(pos);
-
-			//移动到目标位置,并液面探测
-			lld(PipetteGunBindActionType.TAKE_LARGE_BUFFER_SOLUTION, ctx);
-
-			//取液.准备
-			pipetteCtrlDriver.aspiratePrepareBlock();
-
-			//取液
-			Integer takeul = ProjProcessContextUtils.getTakeLargeBSVolume(ctx);
-			aspirate(PipetteGunBindActionType.TAKE_LARGE_BUFFER_SOLUTION, ctx, takeul);
-
-			//移动到吐液位
-			hbotCtrlService.moveTo(hbotConsumableParamMgr.getProbeSubstanceSamplePos(ctx.getConsumable().getGroup(), ctx.getConsumable().getPos()));
-
-			//吐液
-			distribute(PipetteGunBindActionType.DISTRIBUTION_LARGE_BUFFER_SOLUTION_PROBE_SUBSTANCE, ctx, takeul);
-
-
-			//丢tip
-			hbotCtrlService.dropTip();
-
-			//归零,待机
-			hbotCtrlService.moveQuickToZero();
-		} else {
-			Assert.isTrue(false, "不支持的反应流程类型");
-		}
-	}
-
-	public void doSampleProcess(ProjectTaskContext ctx) throws AppException {
-		Integer sampleul   = ProjProcessContextUtils.getSampleVol(ctx);
-		Integer reactionul = ProjProcessContextUtils.getReactionPlateDropletVolUl(ctx);
-
-		A8kReactionFlowType type = ctx.getProjBuildinInfo().projBaseInfo.reactionFlowType;
-		if (type.equals(A8kReactionFlowType.FlowType1)) {
-			//			hbotCtrlService.takeTip(ctx.takeTip());
-		} else {
-			hbotCtrlService.takeTip(ctx.takeTip());
-		}
-
-		//移动到取样位置
-		A8kSamplePos samplePos = ProjProcessContextUtils.getSamplePos(ctx);
-		log.info("移动到 {}", samplePos);
-		Pos3d pos = hbotSamplePosParamMgr.getSampleStartPos(samplePos);
-		pos.z = 0;
-		hbotCtrlService.moveTo(pos);
-
-		//ldd准备
-		lld(PipetteGunBindActionType.SAMPLE, ctx);
-
-		//取液准备
-		pipetteCtrlDriver.aspiratePrepareBlock();
-
-		//吸吐混匀
-		if (ProjProcessContextUtils.isDoMixTubeSample(ctx))
-			mix(PipetteGunBindActionType.MIX_SAMPLE, ctx, sampleul, ProjProcessContextUtils.getTubeMixingCount(ctx));
-
-		//取样
-		aspirate(PipetteGunBindActionType.SAMPLE, ctx, sampleul);
-
-		//移动到吐液位,
-		hbotCtrlService.moveTo(ProjProcessContextUtils.getReactionEndPos(ctx));
-	}
-
-
-	public void doSampleProcessPostProcess(ProjectTaskContext ctx) throws AppException {
-		Integer sampleul   = ProjProcessContextUtils.getSampleVol(ctx);
-		Integer reactionul = ProjProcessContextUtils.getReactionPlateDropletVolUl(ctx);
-
-		//吐液
-		aspirateNoLLF(-sampleul);
-
-		//吸吐混匀
-		mix(PipetteGunBindActionType.MIX_REACTION_LIQUOR, ctx, sampleul, ProjProcessContextUtils.getBSMixingCnt(ctx));
-
-		//吸液
-		aspirateNoLLF(reactionul);
-
-		//旋转转盘
-		turnableMoveCtrlService.trunableMoveToDropLiquidPos(ctx.getIncubatorPos());
-
-		//吐液到反应板
-		hbotCtrlService.moveTo(hbotFixedPosParamMgr.getDropLiquidPos());
-		distributeNoLLF(reactionul);
-		pipetteCtrlDriver.clearHangingLiquid(2);
-
-
-		//丢tip
-		hbotCtrlService.dropTip();
-		//归零,待机
-		hbotCtrlService.moveQuickToZero();
-	}
-
-
-}

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

@@ -0,0 +1,110 @@
+package a8k.service.app.devicectrl.script;
+
+import a8k.service.app.appstate.type.ProjectTaskContext;
+import a8k.service.app.devicectrl.ctrlservice.HbotCtrlService;
+import a8k.service.app.devicectrl.ctrlservice.OptScanModuleCtrlService;
+import a8k.service.app.devicectrl.ctrlservice.TurnableMoveCtrlService;
+import a8k.service.app.devicectrl.driver.PipetteCtrlDriver;
+import a8k.service.app.devicectrl.exdriver.HbotBaseMoveExDriver;
+import a8k.service.app.devicectrl.param.ext_param_mgr.HbotConsumableParamMgr;
+import a8k.service.app.devicectrl.param.ext_param_mgr.base.PipetteGunBindActionType;
+import a8k.service.app.devicectrl.param.ext_param_mgr.base.LLDParamPack;
+import a8k.service.app.devicectrl.param.ext_param_mgr.PipetteGunParamExMgr;
+import a8k.service.app.devicectrl.param.ext_param_mgr.base.LLFParamPack;
+import a8k.service.app.devicectrl.param.param_mgr.HbotFixedPosParamMgr;
+import a8k.service.app.devicectrl.param.param_mgr.HbotSamplePosParamMgr;
+import a8k.service.app.devicectrl.param.type.A8kSamplePos;
+import a8k.type.cfg.Pos3d;
+import a8k.type.exception.AppException;
+import a8k.utils.ProjProcessContextUtils;
+import a8k.utils.ZAppChecker;
+import jakarta.annotation.Resource;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+import org.springframework.util.Assert;
+
+@Component
+@Slf4j
+public class PipeGunCtrlScripter {
+
+
+	@Resource
+	PipetteCtrlDriver       pipetteCtrlDriver;
+	@Resource
+	HbotSamplePosParamMgr  hbotSamplePosParamMgr;
+	@Resource
+	HbotConsumableParamMgr hbotConsumableParamMgr;
+	@Resource
+	PipetteGunParamExMgr   pipetteGunParamExMgr;
+
+	public void aspirateNoLLF(Integer ul) throws AppException {
+		pipetteCtrlDriver.aspirateSetLlfVelocity(0);
+		pipetteCtrlDriver.aspirateBlock(ul);
+	}
+
+	public void distributeNoLLF(Integer ul) throws AppException {
+		pipetteCtrlDriver.aspirateSetLlfVelocity(0);
+		pipetteCtrlDriver.aspirateBlock(-ul);
+	}
+
+
+	public void distribute(PipetteGunBindActionType actionType, ProjectTaskContext ctx, Integer ul) throws AppException {
+		LLFParamPack llfParamPack = pipetteGunParamExMgr.getLLFParam(actionType, ctx);
+		pipetteCtrlDriver.aspirateSetLlfVelocity(llfParamPack.llfVel);
+		pipetteCtrlDriver.setLlfStartZ(llfParamPack.llfStartPos);
+		pipetteCtrlDriver.setLlfEndZ(llfParamPack.llfEndPos);
+		pipetteCtrlDriver.aspirateBlock(-ul);
+	}
+
+	public void mix(PipetteGunBindActionType actionType, ProjectTaskContext ctx, Integer ul, Integer times) throws AppException {
+		LLFParamPack llfParamPack = pipetteGunParamExMgr.getLLFParam(actionType, ctx);
+		pipetteCtrlDriver.aspirateSetLlfVelocity(llfParamPack.llfVel);
+		pipetteCtrlDriver.setLlfStartZ(llfParamPack.llfStartPos);
+		pipetteCtrlDriver.setLlfEndZ(llfParamPack.llfEndPos);
+		pipetteCtrlDriver.shakeUpBlock(ul, times);
+	}
+
+
+	public void aspirate(PipetteGunBindActionType actionType, ProjectTaskContext ctx, Integer ul) throws AppException {
+		LLFParamPack llfParamPack = pipetteGunParamExMgr.getLLFParam(actionType, ctx);
+		log.info("吸液 {} , llfvel {} , llfStartPos {} , llfEndPos {}", ul, llfParamPack.llfVel, llfParamPack.llfStartPos, llfParamPack.llfEndPos);
+
+		pipetteCtrlDriver.aspirateSetLlfVelocity(llfParamPack.llfVel);
+		pipetteCtrlDriver.setLlfStartZ(llfParamPack.llfStartPos);
+		pipetteCtrlDriver.setLlfEndZ(llfParamPack.llfEndPos);
+		pipetteCtrlDriver.aspirateBlock(ul);
+	}
+
+
+	public void lld(PipetteGunBindActionType actionType, ProjectTaskContext ctx) throws AppException {
+		log.info("液面探测 {}", actionType);
+		LLDParamPack lldparm        = pipetteGunParamExMgr.getLLDParam(actionType, ctx);
+		Pos3d        sampleStartPos = null;
+		Pos3d        sampleEndPos   = null;
+
+		//取tip,移动到样本所在的位置,并液面探测
+		switch (actionType) {
+			case SAMPLE -> {
+				A8kSamplePos samplePos = ProjProcessContextUtils.getSamplePos(ctx);
+				sampleStartPos = hbotSamplePosParamMgr.getSampleStartPos(samplePos);
+				sampleEndPos   = hbotSamplePosParamMgr.getSampleEndPos(samplePos);
+			}
+			case TAKE_LARGE_BUFFER_SOLUTION -> { //取大瓶缓冲液
+				var group = ctx.getConsumable().getGroup();
+				sampleStartPos = hbotConsumableParamMgr.getLargeBufferSamplePos(group);
+				sampleEndPos   = hbotConsumableParamMgr.getLargeBufferSamplePosEnd(group);
+			}
+		}
+
+		Assert.notNull(sampleStartPos, "sampleStartPos is null");
+		Assert.notNull(sampleEndPos, "sampleEndPos is null");
+
+		pipetteCtrlDriver.setStartZ(sampleStartPos.z);
+		pipetteCtrlDriver.setEndZ(sampleEndPos.z);
+		pipetteCtrlDriver.setLldType(lldparm.type);
+		pipetteCtrlDriver.setLldCThreshold(lldparm.cThreshold);
+		pipetteCtrlDriver.setLldPThreshold(lldparm.pThreshold);
+		pipetteCtrlDriver.lldBlock();
+	}
+
+}

src/main/java/a8k/utils/ProjProcessContextUtils.java

@@ -154,11 +154,11 @@ public class ProjProcessContextUtils {
 	}
 
 
-	static public Pos3d getReactionEndPos(ProjectTaskContext ctx) {
+	static public Pos3d getFirstStepReactionPos(ProjectTaskContext ctx) {
 		HbotConsumableParamMgr hbotConsumableParamMgr = SpringBootBeanUtil.getBean(HbotConsumableParamMgr.class);
 		A8kReactionFlowType    type                   = ctx.getProjBuildinInfo().projBaseInfo.reactionFlowType;
 		return switch (type) {
-			case FlowType1 -> hbotConsumableParamMgr.getLittleBufferSamplePosEnd(ctx.getConsumable().getGroup(), ctx.getConsumable().getPos());
+			case FlowType1 -> hbotConsumableParamMgr.getLittleBufferSamplePos(ctx.getConsumable().getGroup(), ctx.getConsumable().getPos());
 			case FlowType2 -> hbotConsumableParamMgr.getProbeSubstanceSamplePos(ctx.getConsumable().getGroup(), ctx.getConsumable().getPos());
 		};
 	}