Initial commit

.gitignore

+## ide
+**/.vs
+**/.idea
+work.md
+__pycache__/
+*.py[cod]
+$__pycache__$
+logs/
+Resource/
+dist/
+build/
\ No newline at end of file

180_ScanPidLog.txt

+scan_index =0	2025-08-13 16:03:50	pid_id	joint_4	0	0	-2074176
+scan_index =1	2025-08-13 16:03:51	pid_id	joint_4	0	0	-2074176
+scan_index =0	2025-11-06 15:11:47	pid_id	joint_4	0	0	49600
+scan_index =1	2025-11-06 15:11:48	pid_id	joint_4	0	0	49600

AppBackEnd/AppBackEndBusiness.py

+#!D:\IDE\Anaconda3\envs\Microscope_Scan python
+# -*- coding: UTF-8 -*-
+"""
+@FileName   : AppBackEndBusiness.py
+@Account    : Administrator
+@Time       : 2025/9/3 15:19
+@Author     : xsh
+@Description: 
+"""
+from AppBackEnd.BackEndBusiness.ChamberCheckBusiness import ChamberCheckBusiness
+
+from AppBackEnd.AppScanningFlow import AppScanningFlow
\ No newline at end of file

AppBackEnd/AppEventBusBusiness.py

+#!D:\IDE\Anaconda3\envs\Microscope_Scan python
+# -*- coding: UTF-8 -*-
+"""
+@FileName   : AppEventBusBusiness.py
+@Account    : Administrator
+@Time       : 2025/9/3 13:10
+@Author     : xsh
+@Description: 
+"""
+
+from AppInterfaces.ThreadPoolInterface                      import ThreadPoolInterface, PoolUtil    #
+from AppBackEnd.BackEndEventBus.DataOnlyDrawPool            import DataOnlyDrawPool                 #
+from AppBackEnd.BackEndEventBus.DataWebSocketPool           import DataWebSocketPool                #
+from AppBackEnd.BackEndEventBus.SlideFocusingPool           import SlideFocusingPool                #
+from AppBackEnd.BackEndEventBus.SlideScanningPool           import SlideScanningPool                #
+from AppBackEnd.BackEndEventBus.CameraScanningPool          import CameraScanningPool               #
+from AppBackEnd.BackEndEventBus.GlobalWebServerPool         import GlobalWebServerPool              #
+from AppBackEnd.BackEndEventBus.AppEventBusPool             import AppEventBusPool                  #
+from AppBackEnd.BackEndEventBus.ProcessCellFocusingPool     import ProcessCellFocusingPool          #
\ No newline at end of file

AppBackEnd/AppWebAPIBusiness.py

+#!D:\IDE\Anaconda3\envs\Microscope_Scan python
+# -*- coding: UTF-8 -*-
+"""
+@FileName   : AppWebAPIBusiness.py
+@Account    : Administrator
+@Time       : 2025/9/3 13:07
+@Author     : xsh
+@Description: 
+"""
+
+from AppBackEnd.WebAPIBusiness.ConnectionStatusBusiness   import ConnectionStatusBusiness
+from AppBackEnd.WebAPIBusiness.ExitScanningBusiness       import ExitScanningBusiness
+from AppBackEnd.WebAPIBusiness.JumpScanningBusiness       import JumpScanningBusiness
+from AppBackEnd.WebAPIBusiness.PauseScanningBusiness      import PauseScanningBusiness
+from AppBackEnd.WebAPIBusiness.StartScanningBusiness      import StartScanningBusiness
+from AppBackEnd.WebAPIBusiness.StopScanningBusiness       import StopScanningBusiness
+from AppBackEnd.WebAPIBusiness.ScanningStatusBusiness     import ScanningStatusBusiness
+from AppBackEnd.WebAPIBusiness.ScanningDataBusiness       import ScanningDataBusiness
+from AppBackEnd.WebAPIBusiness.ScanningCompleteBusiness   import ScanningCompleteBusiness
+from AppBackEnd.WebAPIBusiness.ChamberStatusBusiness      import ChamberStatusBusiness
+from AppBackEnd.WebAPIBusiness.SelectScanTemplateBusiness import SelectScanTemplateBusiness
+from AppBackEnd.WebAPIBusiness.AppendScanTemplateBusiness import AppendScanTemplateBusiness
+from AppBackEnd.WebAPIBusiness.RemoveScanTemplateBusiness import RemoveScanTemplateBusiness
+from AppBackEnd.WebAPIBusiness.UpdateScanTemplateBusiness import UpdateScanTemplateBusiness
+from AppBackEnd.WebAPIBusiness.SelectClassifierBusiness   import SelectClassifierBusiness
+from AppBackEnd.WebAPIBusiness.ClearPreviewBusiness       import ClearPreviewBusiness
+from AppBackEnd.WebAPIBusiness.PushTemplateBusiness       import PushTemplateBusiness
+from AppBackEnd.WebAPIBusiness.GetCustomData              import GetCustomData
+from AppBackEnd.WebAPIBusiness.SetCustomData              import SetCustomData
+from AppBackEnd.WebAPIBusiness.ChangedLanguageBusiness    import ChangedLanguageBusiness
\ No newline at end of file

AppBackEnd/BackEndBusiness/ChamberDropBusiness.py

+#!D:\IDE\Anaconda3\envs\Microscope_Scan python
+# -*- coding: UTF-8 -*-
+"""
+@FileName   : ChamberDropBusiness.py
+@Account    : Administrator
+@Time       : 2025/9/3 10:23
+@Author     : xsh
+@Description: 
+"""
+from PyQt5                                  import Qt
+from abc                                    import abstractmethod, abstractclassmethod, abstractstaticmethod
+from AppInterfaces.utils                    import *
+from AppSettings.utils                      import *
+from AppCore.Levels                         import *
+from AppCore.Managers                       import *
+from AppCore.Impls                          import *
+from AppCore.Requests                       import *
+from AppCore.DBModels                       import *
+from AppUtils.utils                         import *
+from AppCore.Events                         import *
+from AppBackEnd.AppEventBusBusiness         import *
+from AppCore.Readers                        import *
+from AppSettings.AppGlobalStatus            import AppGlobalStatus, AppStatus
+from AppSettings.AppGlobalAlgorithm         import AppGlobalAlgorithm
+from AppBackEnd.AppBusinessController        import AppBusinessController, AppBusinessInterface
+class ChamberDropBusiness(Qt.QObject, AppBusinessController):
+
+    def __init__(self, parent: AppBusinessInterface = None):
+        super(ChamberDropBusiness, self).__init__(parent=parent if parent is not None else parent.m_Control)
+        self.initialize()
+        self.ScanLevel = ScanStatusLevel.Check_Status
+        self.initModules(parent)
+
+    def initModules(self, parent: AppBusinessInterface):
+        if isinstance(parent, AppBusinessInterface):
+            self.Config                             = parent.config                       #
+            self.SystemConfig                       = parent.system                       #
+            self.HardWare                           = parent.devices                      #
+            self.GlobalStatus                       = parent.status                       #
+            self.Application                        = parent.application                  #
+            self.Algorithm                          = parent.algorithm                    #
+            self.EventBus                           = parent.eventBus                     #
+            self.Process                            = parent.process                      #
+            self.HitBotConfig                       = parent.hitbotConfig                 #
+
+
+    def isValid(self) -> bool:
+        return self.hasHitBot and self.hasGlobalStatus and self.hasSystemConfig and self.hasConfig
+
+    @property
+    def isAvailable(self) -> bool:
+        return self.hasHitBot and self.hitbot.isAvailable
+
+    def Done(self, ChamberNumber: int, *args, **kwargs):
+        isWrong: int = RECODE_FAILURE
+        self.status.setScanningStatus(self.ScanLevel)
+        isSafe      : bool  = AppConvert.ObjectConvert(kwargs.get('isSafe'      , True), bool   )
+        RowNumber   : int   = AppConvert.ObjectConvert(kwargs.get('RowNumber'   , None), int    )
+        isExit      : bool  = AppConvert.ObjectConvert(kwargs.get('isExit'      , True), bool   )
+
+        try:
+            if isinstance(ChamberNumber, int) and isinstance(RowNumber, int):
+                isWrong = self.ChamberDropSlide(ChamberNumber, RowNumber, isSafe, isExit)
+        except Exception as e:
+            AppUtils.print_Exception(e)
+        if self.status.isExit:
+            self.status.setScanningStatus(ScanStatusLevel.FinishScanning_Status)
+        # elif self.status.isJumpScanning():
+        #     self.status.setScanningStatus(ScanStatusLevel.JumpScanning_Status)
+        elif RECODE_SUCCEED == isWrong:
+            self.status.setScanningStatus(self.ScanLevel)
+            self.status.changedChamberScanningStatus(ChamberNumber, RowNumber, self.ScanLevel)
+        elif not ScanStatusLevel.isHitBotWarning(self.status.scanning_level):
+            self.status.changedChamberScanningStatus(ChamberNumber, RowNumber, ScanStatusLevel.DropChamberSlide_Warning_Status)
+            self.status.setScanningStatus(ScanStatusLevel.DropChamberSlide_Warning_Status)
+        return
+
+    def WaitDone(self, ChamberNumber: int, *args, **kwargs) -> int:
+        isWrong: int = RECODE_FAILURE
+        self.status.setScanningStatus(self.ScanLevel)
+        isSafe      : bool  = AppConvert.ObjectConvert(kwargs.get('isSafe'      , True), bool)
+        RowNumber   : int   = AppConvert.ObjectConvert(kwargs.get('RowNumber'   , None), int )
+        isExit      : bool  = AppConvert.ObjectConvert(kwargs.get('isExit'      , True), bool)
+        try:
+            if isinstance(ChamberNumber, int) and isinstance(RowNumber, int):
+                isWrong = self.ChamberDropSlide(ChamberNumber, RowNumber, isSafe, isExit)
+        except Exception as e:
+            AppUtils.print_Exception(e)
+        if self.status.isExit:
+            self.status.setScanningStatus(ScanStatusLevel.FinishScanning_Status)
+        # elif self.status.isJumpScanning():
+        #     self.status.setScanningStatus(ScanStatusLevel.JumpScanning_Status)
+        elif RECODE_SUCCEED == isWrong:
+            self.status.setScanningStatus(self.ScanLevel)
+            self.status.changedChamberScanningStatus(ChamberNumber, RowNumber, self.ScanLevel)
+        elif not ScanStatusLevel.isHitBotWarning(self.status.scanning_level):
+            self.status.changedChamberScanningStatus(ChamberNumber, RowNumber, ScanStatusLevel.DropChamberSlide_Warning_Status)
+            self.status.setScanningStatus(ScanStatusLevel.DropChamberSlide_Warning_Status)
+        return isWrong
+
+
+
+    def ChamberDropSlide(self, chamber_number: int, row_number: int, isSafe: bool = True, isExit: bool = True) -> int:
+        isWrong             : int = RECODE_FAILURE
+        Actions    : list[HitBotChamberDropAction]
+        isWrong = self.readyDroping(chamber_number, row_number)
+        self.status.setDropSlideTableStatus(chamber_number, row_number)
+        if RECODE_SUCCEED != isWrong:
+            return isWrong
+        if isSafe:
+            self.hitbot.moveToSafePosition()
+        """处理片仓安装状态"""
+        while not self.waitForChamberAvailable():
+            AppTimeLoop.processEvents(self.system.WarningWaitTimes())
+        """处理暂停 退出"""
+        while self.status.waitForPauseRunning():
+            AppTimeLoop.processEvents(self.system.WarningWaitTimes())
+        if isExit:
+            if self.status.waitForExitRunning():
+                return RECODE_SUCCEED
+        isWrong = self.waitForChamberDropSlide(chamber_number, row_number)
+        """如果所有动作完成 把玻片状态改为1 """
+        if RECODE_SUCCEED == isWrong:
+            ChamberStatusModel.setChamberStatus(chamber_number, row_number, 1, 1)
+            self.hitbotConfig.setIsClamp(False)
+        """如果机械臂错误 直接退出"""
+        if ScanStatusLevel.isHitBotAlarm(self.status.scanning_level):
+            return RECODE_FAILURE
+
+        if isSafe and RECODE_SUCCEED == isWrong:
+            self.hitbot.moveToSafePosition()
+        """处理暂停 退出"""
+        while self.status.waitForPauseRunning():
+            AppTimeLoop.processEvents(self.system.WarningWaitTimes())
+        if isExit:
+            if self.status.waitForExitRunning():
+                return RECODE_SUCCEED
+
+        return isWrong
+
+
+
+
+
+
+    def readyDroping(self, chamber_number: int, row_number: int) -> int:
+        isWrong             : int                           = RECODE_FAILURE
+        MinChamberNumber: int
+        MaxChamberNumber: int
+        MinRowNumber    : int
+        MaxRowNumber    : int
+        MinRowNumber    , MaxRowNumber       = self.system.getRowRange      ()
+        MinChamberNumber, MaxChamberNumber   = self.system.getChamberRange  ()
+        if MinChamberNumber <= chamber_number <= MaxChamberNumber and MinRowNumber <= row_number <= MaxRowNumber:
+            """如果当前玻片不能取 直接退出"""
+            if not ChamberStatusModel.IsPickAvailable(chamber_number, row_number):
+                return RECODE_FAILURE
+            if not self.isValid():
+                return RECODE_FAILURE
+            if not self.isAvailable:
+                return RECODE_FAILURE
+            isWrong = RECODE_SUCCEED
+        return isWrong
+
+

AppBackEnd/BackEndBusiness/ChamberPickBusiness.py

+#!D:\IDE\Anaconda3\envs\Microscope_Scan python
+# -*- coding: UTF-8 -*-
+"""
+@FileName   : ChamberPickBusiness.py
+@Account    : Administrator
+@Time       : 2025/9/3 10:23
+@Author     : xsh
+@Description: 
+"""
+from PyQt5                                  import Qt
+from abc                                    import abstractmethod, abstractclassmethod, abstractstaticmethod
+from AppInterfaces.utils                    import *
+from AppSettings.utils                      import *
+from AppCore.Levels                         import *
+from AppCore.Managers                       import *
+from AppCore.Impls                          import *
+from AppCore.Requests                       import *
+from AppCore.DBModels                       import *
+from AppUtils.utils                         import *
+from AppCore.Events                         import *
+from AppBackEnd.AppEventBusBusiness         import *
+from AppCore.Readers                        import *
+from AppSettings.AppGlobalStatus            import AppGlobalStatus, AppStatus
+from AppSettings.AppGlobalAlgorithm         import AppGlobalAlgorithm
+from AppBackEnd.AppBusinessController        import AppBusinessController, AppBusinessInterface
+class ChamberPickBusiness(Qt.QObject, AppBusinessController):
+    Locker      : Qt.QMutex = Qt.QMutex()
+
+
+    def __init__(self, parent: AppBusinessInterface = None):
+        super(ChamberPickBusiness, self).__init__(parent=parent if parent is not None else parent.m_Control)
+        self.initialize()
+        self.ScanLevel = ScanStatusLevel.PickChamberSlide_Status
+        self.initModules(parent)
+
+    def initModules(self, parent: AppBusinessInterface):
+        if isinstance(parent, AppBusinessInterface):
+            self.Config                             = parent.config                       #
+            self.SystemConfig                       = parent.system                       #
+            self.HardWare                           = parent.devices                      #
+            self.GlobalStatus                       = parent.status                       #
+            self.Application                        = parent.application                  #
+            self.Algorithm                          = parent.algorithm                    #
+            self.EventBus                           = parent.eventBus                     #
+            self.Process                            = parent.process                      #
+            self.HitBotConfig                       = parent.hitbotConfig                 #
+
+
+    def isValid(self) -> bool:
+        return self.hasHitBot and self.hasGlobalStatus and self.hasSystemConfig and self.hasConfig and self.hasHitBotConfig
+
+    @property
+    def isAvailable(self) -> bool:
+        return self.hasHitBot and self.hitbot.isAvailable
+
+    def Done(self, ChamberNumber: int, *args, **kwargs):
+        isWrong: int = RECODE_FAILURE
+        self.status.setScanningStatus(self.ScanLevel)
+        isSafe      : bool  = AppConvert.ObjectConvert(kwargs.get('isSafe'      , True), bool   )
+        RowNumber   : int   = AppConvert.ObjectConvert(kwargs.get('RowNumber'   , None), int    )
+        isExit      : bool  = AppConvert.ObjectConvert(kwargs.get('isExit'      , True), bool   )
+        try:
+            if isinstance(ChamberNumber, int) and isinstance(RowNumber, int):
+                isWrong = self.ChamberPickSlide(ChamberNumber, RowNumber, isSafe, isExit)
+        except Exception as e:
+            AppUtils.print_Exception(e)
+        if self.status.isExit:
+            self.status.setScanningStatus(ScanStatusLevel.FinishScanning_Status)
+        elif RECODE_SUCCEED == isWrong:
+            self.status.setScanningStatus(self.ScanLevel)
+            self.status.changedChamberScanningStatus(ChamberNumber, RowNumber, self.ScanLevel)
+        elif not ScanStatusLevel.isHitBotWarning(self.status.scanning_level):
+            self.status.changedChamberScanningStatus(ChamberNumber, RowNumber, ScanStatusLevel.PickChamberSlide_Warning_Status)
+            self.status.setScanningStatus(ScanStatusLevel.PickChamberSlide_Warning_Status)
+        return
+
+    def WaitDone(self, ChamberNumber: int, *args, **kwargs) -> int:
+        isWrong: int = RECODE_FAILURE
+        self.status.setScanningStatus(self.ScanLevel)
+        MinChamberNumber: int
+        MaxChamberNumber: int
+        isSafe      : bool  = AppConvert.ObjectConvert(kwargs.get('isSafe'      , True), bool   )
+        RowNumber   : int   = AppConvert.ObjectConvert(kwargs.get('RowNumber'   , None), int    )
+        isExit      : bool  = AppConvert.ObjectConvert(kwargs.get('isExit'      , True), bool   )
+        try:
+            if isinstance(ChamberNumber, int) and isinstance(RowNumber, int):
+                isWrong = self.ChamberPickSlide(ChamberNumber, RowNumber, isSafe, isExit)
+        except Exception as e:
+            AppUtils.print_Exception(e)
+        if self.status.isExit:
+            self.status.setScanningStatus(ScanStatusLevel.FinishScanning_Status)
+        elif RECODE_SUCCEED == isWrong:
+            self.status.setScanningStatus(self.ScanLevel)
+            self.status.changedChamberScanningStatus(ChamberNumber, RowNumber, self.ScanLevel)
+        elif not ScanStatusLevel.isHitBotWarning(self.status.scanning_level):
+            self.status.changedChamberScanningStatus(ChamberNumber, RowNumber, ScanStatusLevel.PickChamberSlide_Warning_Status)
+            self.status.setScanningStatus(ScanStatusLevel.PickChamberSlide_Warning_Status)
+        return isWrong
+
+
+    def ChamberPickSlide(self, chamber_number: int, row_number: int, isSafe: bool = True, isExit: bool = True) -> int:
+        isWrong             : int = RECODE_FAILURE
+        isWrong          = self.readyPicking(chamber_number, row_number)
+        self.status.setPickSlideTableStatus(chamber_number, row_number)
+        if RECODE_SUCCEED != isWrong:
+            return isWrong
+        if isSafe:
+            self.hitbot.moveToSafePosition()
+        """处理片仓安装状态"""
+        while not self.waitForChamberAvailable():
+            AppTimeLoop.processEvents(self.system.WarningWaitTimes())
+
+        if isExit:
+            """处理暂停 退出"""
+            while self.status.waitForPauseRunning():
+                AppTimeLoop.processEvents(self.system.WarningWaitTimes())
+            if self.status.waitForExitRunning():
+                if isSafe:
+                    self.hitbot.moveToSafePosition()
+                return RECODE_SUCCEED
+
+        isWrong = self.waitForChamberPickSlide(chamber_number, row_number)
+        """如果机械臂错误 直接退出"""
+        if ScanStatusLevel.isHitBotAlarm(self.status.scanning_level):
+            self.hitbotConfig.setIsClamp(False)
+            return RECODE_FAILURE
+
+        """如果所有动作完成 把玻片状态改为0 """
+        if RECODE_SUCCEED == isWrong:
+            """判断夹取状态"""
+            isGrab: bool = self.hitbot.IsGrab()
+            self.hitbotConfig.setIsClamp(isGrab)
+            if not isGrab:
+                isWrong = self.waitForPickWarning(chamber_number, row_number)
+        else:
+            """如果夹取玻片错误"""
+            isWrong = self.waitForPickWarning(chamber_number, row_number)
+
+        if isSafe and RECODE_SUCCEED == isWrong:
+            self.hitbot.moveToSafePosition()
+
+        if isExit:
+            """处理暂停 退出"""
+            while self.status.waitForPauseRunning():
+                AppTimeLoop.processEvents(self.system.WarningWaitTimes())
+            if self.status.waitForExitRunning():
+                return RECODE_SUCCEED
+
+        return isWrong
+
+
+    def readyPicking(self, chamber_number: int, row_number: int) -> int:
+        isWrong: int = RECODE_FAILURE
+        Actions: list[HitBotChamberPickAction] = []
+        MinChamberNumber: int
+        MaxChamberNumber: int
+        MinRowNumber    : int
+        MaxRowNumber    : int
+        MinRowNumber    , MaxRowNumber       = self.system.getRowRange      ()
+        MinChamberNumber, MaxChamberNumber   = self.system.getChamberRange  ()
+        if MinChamberNumber <= chamber_number <= MaxChamberNumber and MinRowNumber <= row_number <= MaxRowNumber:
+            """如果当前玻片不能取 直接退出"""
+            if not ChamberStatusModel.IsPickAvailable(chamber_number, row_number):
+                return RECODE_FAILURE
+            if not self.isValid():
+                return RECODE_FAILURE
+            if not self.isAvailable:
+                return RECODE_FAILURE
+            isWrong = RECODE_SUCCEED
+        return isWrong
+
+
+
+
+

AppBackEnd/BackEndBusiness/SlideTableDropBusiness.py

+#!D:\IDE\Anaconda3\envs\Microscope_Scan python
+# -*- coding: UTF-8 -*-
+"""
+@FileName   : SlideTableDropBusiness.py
+@Account    : Administrator
+@Time       : 2025/9/3 10:23
+@Author     : xsh
+@Description: 
+"""
+from PyQt5                                  import Qt
+from abc                                    import abstractmethod, abstractclassmethod, abstractstaticmethod
+from AppInterfaces.utils                    import *
+from AppSettings.utils                      import *
+from AppCore.Levels                         import *
+from AppCore.Managers                       import *
+from AppCore.Impls                          import *
+from AppCore.Requests                       import *
+from AppCore.DBModels                       import *
+from AppUtils.utils                         import *
+from AppCore.Events                         import *
+from AppBackEnd.AppEventBusBusiness         import *
+from AppCore.Readers                        import *
+from AppSettings.AppGlobalStatus            import AppGlobalStatus, AppStatus
+from AppSettings.AppGlobalAlgorithm         import AppGlobalAlgorithm
+from AppCore.AppAlgorithms.ImageAlgorithm   import ImageAlgorithm
+from AppBackEnd.AppBusinessController       import AppBusinessController, AppBusinessInterface
+class SlideTableDropBusiness(Qt.QObject, AppBusinessController, SingletonInterface):
+    Locker      : Qt.QMutex = Qt.QMutex()
+    @classmethod
+    def GetInstance(cls, *args, **kwargs) -> 'SlideTableDropBusiness':
+        return super(SlideTableDropBusiness, cls).GetInstance(*args, **kwargs)
+    def __init__(self, parent: AppBusinessInterface = None):
+        super(SlideTableDropBusiness, self).__init__(parent=parent if parent is not None else parent.m_Control)
+        self.initialize()
+        self.ScanLevel = ScanStatusLevel.DropTraySlide_Status
+        self.initModules(parent)
+
+    def initModules(self, parent: AppBusinessInterface):
+        if isinstance(parent, AppBusinessInterface):
+            self.Config                             = parent.config                       #
+            self.SystemConfig                       = parent.system                       #
+            self.HardWare                           = parent.devices                      #
+            self.GlobalStatus                       = parent.status                       #
+            self.Application                        = parent.application                  #
+            self.Algorithm                          = parent.algorithm                    #
+            self.EventBus                           = parent.eventBus                     #
+            self.Process                            = parent.process                      #
+            self.HitBotConfig                       = parent.hitbotConfig                 #
+
+
+    def isValid(self) -> bool:
+        return self.hasHitBot and self.hasGlobalStatus and self.hasSystemConfig and self.hasConfig
+    @property
+    def isAvailable(self) -> bool:
+        return self.hasHitBot and self.hitbot.isAvailable
+
+    def Done(self, ChamberNumber: int, *args, **kwargs):
+        isWrong: int = RECODE_FAILURE
+        self.status.setScanningStatus(self.ScanLevel)
+        isSafe      : bool  = AppConvert.ObjectConvert(kwargs.get('isSafe'      , True), bool)
+        RowNumber   : int   = AppConvert.ObjectConvert(kwargs.get('RowNumber'   , None), int)
+        TrayNumber  : int   = AppConvert.ObjectConvert(kwargs.get('TrayNumber'  , None), int)
+        isExit      : bool  = AppConvert.ObjectConvert(kwargs.get('isExit'      , True), bool)
+        try:
+            if isinstance(ChamberNumber, int) and isinstance(RowNumber, int) and isinstance(TrayNumber, int):
+                isWrong = self.SlideTableSampleDropping(ChamberNumber, RowNumber, TrayNumber, isSafe, isExit)
+        except Exception as e:
+            AppUtils.print_Exception(e)
+        if self.status.isExit:
+            self.status.setScanningStatus(ScanStatusLevel.FinishScanning_Status)
+        # elif self.status.isJumpScanning():
+        #     self.status.setScanningStatus(ScanStatusLevel.JumpScanning_Status)
+        elif not ScanStatusLevel.isHitBotWarning(self.status.scanning_level):
+            self.status.changedChamberScanningStatus(ChamberNumber, RowNumber, ScanStatusLevel.DropTraySlide_Warning_Status)
+            self.status.setScanningStatus(ScanStatusLevel.DropTraySlide_Warning_Status)
+
+
+        return
+
+    def WaitDone(self, ChamberNumber: int, *args, **kwargs) -> int:
+        isWrong: int = RECODE_FAILURE
+        self.status.setScanningStatus(self.ScanLevel)
+        isSafe      : bool  = AppConvert.ObjectConvert(kwargs.get('isSafe'      , True), bool   )
+        RowNumber   : int   = AppConvert.ObjectConvert(kwargs.get('RowNumber'   , None), int    )
+        TrayNumber  : int   = AppConvert.ObjectConvert(kwargs.get('TrayNumber'  , None), int    )
+        isExit      : bool  = AppConvert.ObjectConvert(kwargs.get('isExit'      , True), bool   )
+        try:
+            if isinstance(ChamberNumber, int) and isinstance(RowNumber, int) and isinstance(TrayNumber, int):
+                isWrong = self.SlideTableSampleDropping(ChamberNumber, RowNumber, TrayNumber, isSafe, isExit)
+        except Exception as e:
+            AppUtils.print_Exception(e)
+        if self.status.isExit:
+            self.status.setScanningStatus(ScanStatusLevel.FinishScanning_Status)
+        elif RECODE_SUCCEED == isWrong:
+            self.status.setScanningStatus(self.ScanLevel)
+            self.status.changedChamberScanningStatus(ChamberNumber, RowNumber, self.ScanLevel)
+        elif not ScanStatusLevel.isHitBotWarning(self.status.scanning_level):
+            self.status.changedChamberScanningStatus(ChamberNumber, RowNumber, ScanStatusLevel.DropTraySlide_Warning_Status)
+            self.status.setScanningStatus(ScanStatusLevel.DropTraySlide_Warning_Status)
+        return isWrong
+
+
+
+
+    def SlideTableSampleDropping(self, chamber_number: int, row_number: int, tray_number: int, isSafe: bool = True, isExit: bool = True) -> int:
+        isWrong                 : int
+        self.status.setSlideTableStatus(chamber_number, row_number, tray_number)
+        self.status.setPickSlideTableStatus(chamber_number, row_number)
+        isWrong                 = self.readySlideTableSampleDropping(chamber_number, row_number, tray_number)
+
+        if RECODE_SUCCEED != isWrong:
+            return isWrong
+        if isSafe:
+            self.hitbot.moveToSafePosition()
+
+        """处理暂停 退出"""
+        while self.status.waitForPauseRunning():
+            AppTimeLoop.processEvents(self.system.WarningWaitTimes())
+        if isExit:
+            if self.status.waitForExitRunning():
+                if isSafe:
+                    self.hitbot.moveToSafePosition()
+                return RECODE_SUCCEED
+
+
+        isWrong = self.waitForSlideTableDroping(chamber_number, row_number, tray_number)
+        tray_status: bool = RECODE_SUCCEED == isWrong and not ScanStatusLevel.isHitBotAlarm(self.status.scanning_level)
+        self.status.setTrayStatus(tray_number, tray_status)
+        if RECODE_SUCCEED == isWrong:
+            """如果所有动作完成 把夹爪状态改为0 """
+            self.hitbotConfig.setIsClamp(False)
+        else:
+            """如果所有动作完成 把夹爪状态改为0 """
+            self.hitbotConfig.setIsClamp(True)
+
+
+        self.status.setSlideTableStatus(chamber_number, row_number, tray_number)
+        """如果机械臂错误 直接退出"""
+        if ScanStatusLevel.isHitBotAlarm(self.status.scanning_level):
+            return RECODE_FAILURE
+        if isSafe and RECODE_SUCCEED == isWrong:
+            self.hitbot.moveToSafePosition()
+        """处理暂停 退出"""
+        while self.status.waitForPauseRunning():
+            AppTimeLoop.processEvents(self.system.WarningWaitTimes())
+        if isExit:
+            if self.status.waitForExitRunning():
+                return RECODE_SUCCEED
+        return isWrong
+
+    def readySlideTableSampleDropping(self, chamber_number: int, row_number: int, tray_number: int) -> int:
+        isWrong             : int                           = RECODE_FAILURE
+        MinChamberNumber    : int
+        MaxChamberNumber    : int
+        MinRowNumber        : int
+        MaxRowNumber        : int
+        MinRowNumber    , MaxRowNumber       = self.system.getRowRange      ()
+        MinChamberNumber, MaxChamberNumber   = self.system.getChamberRange  ()
+        if MinChamberNumber <= chamber_number <= MaxChamberNumber and MinRowNumber <= row_number <= MaxRowNumber:
+            try:
+                """如果当前夹抓没有夹到玻片 退出"""
+                if not self.hitbotConfig.hitbotIsClamp():
+                    if not self.hitbot.IsGrab():
+                        return RECODE_FAILURE
+                    self.hitbotConfig.setIsClamp(True)
+                if not self.isValid():
+                    return RECODE_FAILURE
+                if not self.isAvailable:
+                    return RECODE_FAILURE
+                isWrong = RECODE_SUCCEED
+            except Exception as e:
+                AppUtils.print_Exception(e)
+        return isWrong
+
+

AppBackEnd/BackEndBusiness/SlideTablePickBusiness.py

+#!D:\IDE\Anaconda3\envs\Microscope_Scan python
+# -*- coding: UTF-8 -*-
+"""
+@FileName   : SlideTablePickBusiness.py
+@Account    : Administrator
+@Time       : 2025/9/3 10:22
+@Author     : xsh
+@Description: 
+"""
+from PyQt5                                  import Qt
+from abc                                    import abstractmethod, abstractclassmethod, abstractstaticmethod
+from AppInterfaces.utils                    import *
+from AppSettings.utils                      import *
+from AppCore.Levels                         import *
+from AppCore.Managers                       import *
+from AppCore.Impls                          import *
+from AppCore.Requests                       import *
+from AppCore.DBModels                       import *
+from AppUtils.utils                         import *
+from AppCore.Events                         import *
+from AppBackEnd.AppEventBusBusiness         import *
+from AppCore.Readers                        import *
+from AppSettings.AppGlobalStatus            import AppGlobalStatus, AppStatus
+from AppSettings.AppGlobalAlgorithm         import AppGlobalAlgorithm
+from AppCore.AppAlgorithms.ImageAlgorithm   import ImageAlgorithm
+from AppBackEnd.AppBusinessController       import AppBusinessController, AppBusinessInterface
+class SlideTablePickBusiness(Qt.QObject, AppBusinessController, SingletonInterface):
+    Locker      : Qt.QMutex = Qt.QMutex()
+    @classmethod
+    def GetInstance(cls, *args, **kwargs) -> 'SlideTablePickBusiness':
+        return super(SlideTablePickBusiness, cls).GetInstance(*args, **kwargs)
+    def __init__(self, parent: AppBusinessInterface = None):
+        super(SlideTablePickBusiness, self).__init__(parent=parent if parent is not None else parent.m_Control)
+        self.initialize()
+        self.ScanLevel = ScanStatusLevel.OilDripping_Status
+        self.initModules(parent)
+
+    def initModules(self, parent: AppBusinessInterface):
+        if isinstance(parent, AppBusinessInterface):
+            self.Config                             = parent.config                       #
+            self.SystemConfig                       = parent.system                       #
+            self.HardWare                           = parent.devices                      #
+            self.GlobalStatus                       = parent.status                       #
+            self.Application                        = parent.application                  #
+            self.Algorithm                          = parent.algorithm                    #
+            self.EventBus                           = parent.eventBus                     #
+            self.Process                            = parent.process                      #
+            self.HitBotConfig                       = parent.hitbotConfig                 #
+
+    def isValid(self) -> bool:
+        return self.hasHitBot and self.hasGlobalStatus and self.hasSystemConfig and self.hasConfig
+
+    @property
+    def isAvailable(self) -> bool:
+        return self.hasHitBot and self.hitbot.isAvailable
+
+    def Done(self, ChamberNumber: int, *args, **kwargs):
+        isWrong: int = RECODE_FAILURE
+        isSafe      : bool  = AppConvert.ObjectConvert(kwargs.get('isSafe'      , True), bool   )
+        RowNumber   : int   = AppConvert.ObjectConvert(kwargs.get('RowNumber'   , None), int    )
+        TrayNumber  : int   = AppConvert.ObjectConvert(kwargs.get('TrayNumber'  , None), int    )
+        isExit      : bool  = AppConvert.ObjectConvert(kwargs.get('isExit'      , True), bool   )
+        try:
+            if isinstance(ChamberNumber, int) and isinstance(RowNumber, int) and isinstance(TrayNumber, int):
+                isWrong = self.SlideTableSamplePicking(ChamberNumber, RowNumber, TrayNumber, isSafe, isExit)
+
+        except Exception as e:
+            AppUtils.print_Exception(e)
+        if self.status.isExit:
+            self.status.setScanningStatus(ScanStatusLevel.FinishScanning_Status)
+        # elif self.status.isJumpScanning():
+        #     self.status.setScanningStatus(ScanStatusLevel.JumpScanning_Status)
+        elif RECODE_SUCCEED == isWrong:
+            self.status.setScanningStatus(self.ScanLevel)
+            self.status.changedChamberScanningStatus(ChamberNumber, RowNumber, self.ScanLevel)
+        elif not ScanStatusLevel.isHitBotWarning(self.status.scanning_level):
+            self.status.changedChamberScanningStatus(ChamberNumber, RowNumber, ScanStatusLevel.PickTraySlide_Warning_Status)
+            self.status.setScanningStatus(ScanStatusLevel.PickTraySlide_Warning_Status)
+        return
+
+    def WaitDone(self, ChamberNumber: int, *args, **kwargs) -> int:
+        isWrong: int = RECODE_FAILURE
+        isSafe      : bool  = AppConvert.ObjectConvert(kwargs.get('isSafe'      , True), bool   )
+        RowNumber   : int   = AppConvert.ObjectConvert(kwargs.get('RowNumber'   , None), int    )
+        TrayNumber  : int   = AppConvert.ObjectConvert(kwargs.get('TrayNumber'  , None), int    )
+        isExit      : bool  = AppConvert.ObjectConvert(kwargs.get('isExit'      , True), bool   )
+        try:
+            if isinstance(ChamberNumber, int) and isinstance(RowNumber, int) and isinstance(TrayNumber, int):
+                isWrong = self.SlideTableSamplePicking(ChamberNumber, RowNumber, TrayNumber, isSafe, isExit)
+        except Exception as e:
+            AppUtils.print_Exception(e)
+        if self.status.isExit:
+            self.status.setScanningStatus(ScanStatusLevel.FinishScanning_Status)
+        # elif self.status.isJumpScanning():
+        #     self.status.setScanningStatus(ScanStatusLevel.JumpScanning_Status)
+        elif RECODE_SUCCEED == isWrong:
+            self.status.setScanningStatus(self.ScanLevel)
+            self.status.changedChamberScanningStatus(ChamberNumber, RowNumber, self.ScanLevel)
+        elif not ScanStatusLevel.isHitBotWarning(self.status.scanning_level):
+            self.status.changedChamberScanningStatus(ChamberNumber, RowNumber, ScanStatusLevel.PickTraySlide_Warning_Status)
+            self.status.setScanningStatus(ScanStatusLevel.PickTraySlide_Warning_Status)
+        return isWrong
+
+
+
+    def SlideTableSamplePicking(self, chamber_number: int, row_number: int, tray_number: int, isSafe: bool = True, isExit: bool = True) -> bool:
+
+        isWrong                 : int                       = RECODE_FAILURE
+        isWrong                 = self.readySlideTableSamplePicking(chamber_number, row_number, tray_number)
+        self.status.setSlideTableStatus(chamber_number, row_number, tray_number)
+        self.status.setDropSlideTableStatus(chamber_number, row_number)
+        if RECODE_SUCCEED != isWrong:
+            return isWrong
+        if isSafe:
+            self.hitbot.moveToSafePosition()
+        """处理暂停 退出"""
+        while self.status.waitForPauseRunning():
+            AppTimeLoop.processEvents(self.system.WarningWaitTimes())
+        if isExit:
+            if self.status.waitForExitRunning():
+                return RECODE_SUCCEED
+
+
+        isWrong = self.waitForSlideTablePicking(chamber_number, row_number, tray_number)
+        tray_status = False if RECODE_SUCCEED == isWrong and not ScanStatusLevel.isHitBotAlarm(self.status.scanning_level) else True
+        self.status.setTrayStatus(tray_number, tray_status)
+
+
+        if RECODE_SUCCEED == isWrong:
+            """如果所有动作完成 把夹爪状态改为0 """
+            self.hitbotConfig.setIsClamp(True)
+        else:
+            """如果所有动作完成 把夹爪状态改为0 """
+            self.hitbotConfig.setIsClamp(False)
+        self.status.setSlideTableStatus(chamber_number, row_number, tray_number)
+        """如果机械臂错误 直接退出"""
+        if ScanStatusLevel.isHitBotAlarm(self.status.scanning_level):
+            return RECODE_FAILURE
+
+        if isSafe and RECODE_SUCCEED == isWrong:
+            self.hitbot.moveToSafePosition()
+        """处理暂停 退出"""
+        while self.status.waitForPauseRunning():
+            AppTimeLoop.processEvents(self.system.WarningWaitTimes())
+        if isExit:
+            if self.status.waitForExitRunning():
+                return RECODE_SUCCEED
+        return isWrong
+
+    def readySlideTableSamplePicking(self, chamber_number: int, row_number: int, tray_number: int) -> int:
+        isWrong             : int                           = RECODE_FAILURE
+        MinChamberNumber    : int
+        MaxChamberNumber    : int
+        MinRowNumber        : int
+        MaxRowNumber        : int
+        MinRowNumber    , MaxRowNumber       = self.system.getRowRange      ()
+        MinChamberNumber, MaxChamberNumber   = self.system.getChamberRange  ()
+        if MinChamberNumber <= chamber_number <= MaxChamberNumber and MinRowNumber <= row_number <= MaxRowNumber:
+            try:
+                """如果当前夹抓已经夹到玻片 退出"""
+                if self.hitbotConfig.hitbotIsClamp():
+                    if self.hitbot.IsGrab():
+                        return RECODE_FAILURE
+                    self.hitbot.SetGripperON()
+                    self.hitbotConfig.setIsClamp(False)
+                if not self.isValid():
+                    return RECODE_FAILURE
+                if not self.isAvailable:
+                    return RECODE_FAILURE
+                isWrong = RECODE_SUCCEED
+            except Exception as e:
+                AppUtils.print_Exception(e)
+                isWrong = RECODE_FAILURE
+        return isWrong
+

AppBackEnd/BackEndBusiness/__init__.py

+#!D:\IDE\Anaconda3\envs\Microscope_Scan python
+# -*- coding: UTF-8 -*-
+"""
+@FileName   : __init__.py.py
+@Account    : Administrator
+@Time       : 2025/9/3 10:21
+@Author     : xsh
+@Description: 
+"""

AppBackEnd/BackEndEventBus/__init__.py

+#!D:\IDE\Anaconda3\envs\Microscope_Scan python
+# -*- coding: UTF-8 -*-
+"""
+@FileName   : __init__.py.py
+@Account    : Administrator
+@Time       : 2025/9/3 10:53
+@Author     : xsh
+@Description: 
+"""