boditech-a8000-be/src/main/java/com/dreamworks/boditech/driver/Device.java

package com.dreamworks.boditech.driver;
import com.dreamworks.boditech.driver.actuator.*;
import com.dreamworks.boditech.driver.connection.ComSerialPort;
import com.dreamworks.boditech.driver.consumable.CsmBufferTubeA;
import com.dreamworks.boditech.driver.consumable.CsmBufferTubeB;
import com.dreamworks.boditech.driver.consumable.CsmLargeBufferTube;
import com.dreamworks.boditech.driver.consumable.CsmPipetteTip;
import com.dreamworks.boditech.service.RuntimeOptionService;
import com.dreamworks.boditech.utils.MyByteBuffer;
import jakarta.annotation.PostConstruct;
import jakarta.annotation.Resource;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Component;
import java.nio.ByteBuffer;
import java.nio.ByteOrder;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
@Component
public class Device {
    private static final Logger LOG = LoggerFactory.getLogger(Device.class);

    @Value("${app.device.debug}")
    private Boolean debug;

    @Resource
    private ComSerialPort serialPort;

    @Resource
    private RuntimeOptionService runtimeOptionService;

    // actuators
    private final Map<Integer, Actuator> actuators = new HashMap<Integer, Actuator>();
    // pipette tips
    private final List<CsmPipetteTip> pipetteTips = new ArrayList<CsmPipetteTip>();
    // buffer tube larges
    private final List<CsmLargeBufferTube> largeBufferTubes = new ArrayList<CsmLargeBufferTube>();
    // buffer tube A
    private final List<CsmBufferTubeA> bufferTubeAList = new ArrayList<CsmBufferTubeA>();
    // buffer tube B
    private final List<CsmBufferTubeB> bufferTubeBList = new ArrayList<CsmBufferTubeB>();
    // message index
    private short messageIndex = 0;

    @PostConstruct
    public void init() {
        this.appendActuator(new ActModuleTestTubeRackMovement(ActuatorModule.TEST_TUBE_RACK_MOVEMENT, this));
        this.appendActuator(new ActMotor(ActuatorModule.TEST_TUBE_RACK_FEED_MOTOR, this));
        this.appendActuator(new ActMotor(ActuatorModule.TEST_TUBE_RACK_MOVE_MOTOR, this));
        this.appendActuator(new ActMotor(ActuatorModule.TEST_TUBE_RACK_EXIT_MOTOR, this));
        this.appendActuator(new ActCodeScanner(ActuatorModule.TEST_TUBE_RACK_SCANNER, this));
        this.appendActuator(new ActMotor(ActuatorModule.TEST_TUBE_SHAKING_MOVE_MOTOR, this));
        this.appendActuator(new ActMotor(ActuatorModule.TEST_TUBE_SHAKING_CAP_CLIP_MOTOR, this));
        this.appendActuator(new ActMotor(ActuatorModule.TEST_TUBE_SHAKING_SHAKE_MOTOR, this));
        this.appendActuator(new ActMotor(ActuatorModule.TEST_TUBE_SHAKING_ROTATE_MOTOR, this));
        this.appendActuator(new ActMotor(ActuatorModule.TEST_TUBE_SHAKING_CLIP_MOTOR, this));
        this.appendActuator(new ActArmXY(ActuatorModule.ARM_XY, this));
        this.appendActuator(new ActMotor(ActuatorModule.ARM_Z_MOTOR, this));
        this.appendActuator(new ActPipette(ActuatorModule.ARM_Z_PIPETTE, this));
    }

    // append actuator
    private void appendActuator(Actuator actuator) {
        this.actuators.put(actuator.getMid(), actuator);
    }

    // get actuator by module id
    public Actuator getActuator(Integer mid) {
        return this.actuators.get(mid);
    }

    // append buffer tube A
    public void appendBufferTubeA( Integer areaIndex, Integer amount ) {
        for (int i = 0; i<amount; i++ ) {
            CsmBufferTubeA tube = new CsmBufferTubeA();
            tube.areaIndex = areaIndex;
            tube.position = i;
            this.bufferTubeAList.add(tube);
        }
    }

    // get buffer tube A
    public CsmBufferTubeA getBufferTubeA( String projectName ) {
        for (CsmBufferTubeA tube : this.bufferTubeAList) {
            if (!tube.projectName.equals(projectName)) {
                continue;
            }
            this.bufferTubeAList.remove(tube);
            return tube;
        }
        throw new RuntimeException("no buffer tube A for project " + projectName);
    }

    // append buffer tube B
    public void appendBufferTubeB( Integer areaIndex, Integer amount ) {
        for (int i = 0; i<amount; i++ ) {
            CsmBufferTubeB tube = new CsmBufferTubeB();
            tube.areaIndex = areaIndex;
            tube.position = i;
            this.bufferTubeBList.add(tube);
        }
    }

    // get buffer tube B
    public CsmBufferTubeB getBufferTubeB( String projectName ) {
        for (CsmBufferTubeB tube : this.bufferTubeBList) {
            if (!tube.projectName.equals(projectName)) {
                continue;
            }
            this.bufferTubeBList.remove(tube);
            return tube;
        }
        throw new RuntimeException("no buffer tube B for project " + projectName);
    }

    // append pipette tip
    public void appendPipetteTip( Integer areaIndex, Integer amount ) {
        for (int i = 0; i<amount; i++ ) {
            CsmPipetteTip tip = new CsmPipetteTip();
            tip.areaIndex = areaIndex;
            tip.position = i;
            this.pipetteTips.add(tip);
        }
    }

    // get pipette tip
    public CsmPipetteTip getPipetteTip() {
        if ( this.pipetteTips.isEmpty() ) {
            throw new RuntimeException("no pipette tip");
        }
        CsmPipetteTip tip = this.pipetteTips.remove(0);
        return tip;
    }

    // append large buffer tube
    public void appendLargeBufferTube( Integer position ) {
        CsmLargeBufferTube tube = new CsmLargeBufferTube();
        tube.position = position;
        this.largeBufferTubes.removeIf(tmp -> tmp.position.equals(position));
        this.largeBufferTubes.add(tube);
    }

    // get large buffer tube
    public CsmLargeBufferTube getLargeBufferTube( String projectName ) {
        CsmLargeBufferTube tube = null;
        for ( CsmLargeBufferTube tmp : this.largeBufferTubes ) {
            if ( !tmp.projectName.equals(projectName) ) {
                continue ;
            }
            if ( tmp.isEmpty() ) {
                continue;
            }
            tube = tmp;
            break;
        }
        if ( null == tube ) {
            throw new RuntimeException("no large buffer tube");
        }
        return tube;
    }

    // get location by name
    public Integer getLocationByName( String name ) {
        String key = "device.location." + name;
        Integer value = this.runtimeOptionService.getInteger(key);
        return value;
    }

    // call device command and wait for response
    public ByteBuffer call( Integer cmd, Integer mid, Object ... params ) {


        int length = 2 + 2 + 1 + 1 + 2;
        for ( Object param : params ) {
            if ( param instanceof Integer ) {
                length += 4;
            } else {
                throw new RuntimeException("param type error");
            }
        }

        int subCmdId = cmd & 0xFF;
        int mainCmdId = (cmd >> 8) & 0xFFFF;
        int moduleId = mid;

        ByteBuffer request = ByteBuffer.allocate(length);
        request.order(ByteOrder.LITTLE_ENDIAN);
        request.putShort(this.messageIndex);
        request.putShort((short)mainCmdId); // main cmd id
        request.put((byte)subCmdId); // sub cmd id
        request.put((byte)0); // directive type
        request.putShort((short)moduleId); // mid
        for ( Object param : params ) {
            if ( param instanceof Integer ) {
                request.putInt((Integer)param);
            }
        }

        this.messageIndex ++;
        if ( this.debug ) {
            return this.serialPortCall(request);
        }
        return this.prodCall(cmd, mid, params);
    }

    // call device command in debug mode
    private ByteBuffer serialPortCall(ByteBuffer request) {
        LOG.info("Device serial port => {}", MyByteBuffer.toHex(request));
        this.serialPort.write(request);

        ByteBuffer response = ByteBuffer.allocate(0);
        while ( 0 == response.capacity() ) {
            try {
                Thread.sleep(300);
            } catch (InterruptedException e) {
                e.printStackTrace();
            }
            response = this.serialPort.read();
        }

        LOG.info("Device serial port <= {}", MyByteBuffer.toHex(response));
        return response;
    }

    private ByteBuffer prodCall(Integer cmd, Integer mid, Object[] params) {
        System.out.println("Device prodCall");
        return null;
    }
}