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package com.dreamworks.boditech.service;import com.dreamworks.boditech.driver.*;import com.dreamworks.boditech.driver.consumable.CsmLargeBufferTube;import com.dreamworks.boditech.driver.consumable.CsmPipetteTip;import com.dreamworks.boditech.driver.task.Task;import jakarta.annotation.Resource;import org.springframework.stereotype.Service;
import java.util.ArrayList;import java.util.List;
@Servicepublic class DeviceService { @Resource public Device device;
// pipette tips
public List<CsmPipetteTip> pipetteTips; // buffer tubes
public List<CsmLargeBufferTube> bufferTubes; // test cards
public List<ConsumableTestCard> testCards; // tasks
private final List<Task> tasks = new ArrayList<>(); // task executor
private TaskExecutor taskExecutor; // task executor thread
private Thread taskExecutorThread;
// reset to initial state
public void reset() {
}
// start
public void start() { this.device.appendPipetteTip(0, 10); this.device.appendPipetteTip(1, 10); this.device.appendPipetteTip(2, 10); this.device.appendBufferTubeA(0, 10);
this.taskExecutor = new TaskExecutor(this.tasks, this.device); this.taskExecutorThread = new Thread(this.taskExecutor); this.taskExecutorThread.setName("task-executor"); this.taskExecutorThread.start(); }
// stop
public void stop() { this.taskExecutor.stop(); try { this.taskExecutorThread.join(); } catch (InterruptedException e) { throw new RuntimeException(e); } }
// append new task
public void taskAppend(Task task) { synchronized (this.tasks) { this.tasks.add(task); this.tasks.notifyAll(); } }
// private static final Logger LOG = LoggerFactory.getLogger(DeviceService.class);
//
// @Resource
// private BoditechDeviceClient device;
//
// // device request list
// private Map<Short, BoditechDeviceRequest> deviceRequests;
// // request id
// private short requestId = 0;
//
// /**
// * initialize device service
// */
// @PostConstruct
// public void init() {
// LOG.info("init");
// this.deviceRequests = new HashMap<Short, BoditechDeviceRequest>();
// this.device.setOnMessageCallback(this::handleDeviceOnMessage);
// }
//
// /**
// * event handler for receiving binary message from device
// * @param buffer message from device
// */
// public void handleDeviceOnMessage(ByteBuffer buffer) {
// LOG.info("handleDeviceOnMessage");
// buffer.order(ByteOrder.LITTLE_ENDIAN);
// short reqId = buffer.getShort();
// BoditechDeviceRequest request = this.deviceRequests.get(reqId);
// if ( null == request ) {
// return ;
// }
// request.setResponseBuffer(buffer);
// }
//
// /**
// * call device command
// * @param mid module id
// * @param cmd command definition
// * @param params arguments for command
// */
// public ByteBuffer call( int mid, short[] cmd, int ... params ) {
// this.requestId += 1;
// if ( 30000 < this.requestId ) {
// this.requestId = 1;
// }
//
// // build request buffer and send to device
// int requestBufferLength = 8 + params.length * 4;
// ByteBuffer requestBuffer = ByteBuffer.allocate(requestBufferLength);
// requestBuffer.order(ByteOrder.LITTLE_ENDIAN);
// requestBuffer.putShort(this.requestId); // request id (2 bytes)
// requestBuffer.putShort(cmd[0]); // main cmd (2 bytes)
// requestBuffer.put((byte)cmd[1]); // sub cmd (1 byte)
// requestBuffer.put((byte)0); // directive type
// requestBuffer.putShort((short)mid); // module id (2 bytes)
// for ( int param : params ) {
// requestBuffer.putInt(param); // param (4 bytes)
// }
// byte[] bytes = requestBuffer.array();
// this.device.send(bytes);
// LOG.info("request({}) : send = {} ", this.requestId, bytes);
//
// // wait for response
// BoditechDeviceRequest request = new BoditechDeviceRequest();
// this.deviceRequests.put(this.requestId, request);
// ByteBuffer responseBuffer = request.waitForResponse();
// this.deviceRequests.remove(this.requestId);
//
// ByteBuffer responseData = responseBuffer.slice(8, responseBuffer.capacity() - 8);
// LOG.info("request({}) : response = {} ", this.requestId, responseData);
// return responseData;
// }
//
// // motor enable / disable
// public void motorEnable (int mid, boolean enable) {
// LOG.info("motorEnable : mid={}, enable={}", mid, enable);
// this.call(mid, BoditechDeviceCmd.MOTOR_ENABLE, enable ? 1 : 0);
// }
//
// // motor easy move to
// public void motorEasyMoveTo(int mid, int position) {
// LOG.info("motorEasyMoveTo : mid={}, position={}", mid, position);
// this.call(mid, BoditechDeviceCmd.MOTOR_EASY_MOVE_TO, position);
// }
//
// // motor easy move by
// public void motorEasyMoveBy(int mid, int distance) {
// LOG.info("motorEasyMoveBy : mid={}, distance={}", mid, distance);
// this.call(mid, BoditechDeviceCmd.MOTOR_EASY_MOVE_BY, distance);
// }
//
// // motor easy move to zero
// public void motorEasyMoveToZero(int mid, int direction) {
// LOG.info("motorEasyMoveToZero : mid={}, direction={}", mid, direction);
// this.call(mid, BoditechDeviceCmd.MOTOR_EASY_MOVE_TO_ZERO, direction);
// }
//
// // motor easy rotate
// public void motorEasyRotate(int mid, int direction) {
// LOG.info("motorEasyRotate : mid={}, direction={}", mid, direction);
// this.call(mid, BoditechDeviceCmd.MOTOR_EASY_ROTATE, direction);
// }
//
// // motor easy set current pos
// public void motorEasySetCurrentPos(int mid, int pos) {
// LOG.info("motorEasySetCurrentPos : mid={}, pos={}", mid, pos);
// this.call(mid, BoditechDeviceCmd.MOTOR_EASY_SET_CURRENT_POS, pos);
// }
//
// // motor move by
// public void motorMoveBy(int mid, int distance, int motorVelocity, int acc) {
// LOG.info("motorMoveBy : mid={}, distance={}, motorVelocity={}, acc={}", mid, distance, motorVelocity, acc);
// this.call(mid, BoditechDeviceCmd.MOTOR_MOVE_BY, distance, motorVelocity, acc);
// }
//
// // motor move by acctime
// public void motorMoveByAcctime(int mid, int distance, int motorVelocity, int acctime) {
// LOG.info("motorMoveByAcctime : mid={}, distance={}, motorVelocity={}, acctime={}", mid, distance, motorVelocity, acctime);
// this.call(mid, BoditechDeviceCmd.MOTOR_MOVE_BY_ACCTIME, distance, motorVelocity, acctime);
// }
//
// // motor move to
// public void motorMoveTo(int mid, int position, int motorVelocity, int acc) {
// LOG.info("motorMoveTo : mid={}, position={}, motorVelocity={}, acc={}", mid, position, motorVelocity, acc);
// this.call(mid, BoditechDeviceCmd.MOTOR_MOVE_TO, position, motorVelocity, acc);
// }
//
// // motor move to acctime
// public void motorMoveToAcctime(int mid, int position, int motorVelocity, int acctime) {
// LOG.info("motorMoveToAcctime : mid={}, position={}, motorVelocity={}, acctime={}", mid, position, motorVelocity, acctime);
// this.call(mid, BoditechDeviceCmd.MOTOR_MOVE_TO_ACCTIME, position, motorVelocity, acctime);
// }
//
// // motor move to torque
// public void motorMoveToTorque(int mid, int pos, int torque, int overtime) {
// LOG.info("motorMoveToTorque : mid={}, pos={}, torque={}, overtime={}", mid, pos, torque, overtime);
// this.call(mid, BoditechDeviceCmd.MOTOR_MOVE_TO_TORQUE, pos, torque, overtime);
// }
//
// // motor move to zero backward
// public void motorMoveToZeroBackward(int mid, int findzerospeed, int findzeroedgeSpeed, int acc, int overtime) {
// LOG.info("motorMoveToZeroBackward : mid={}, findzerospeed={}, findzeroedgeSpeed={}, acc={}, overtime={}", mid, findzerospeed, findzeroedgeSpeed, acc, overtime);
// this.call(mid, BoditechDeviceCmd.MOTOR_MOVE_TO_ZERO_BACKWARD, findzerospeed, findzeroedgeSpeed, acc, overtime);
// }
//
// // motor move to zero backward and calculated shift
// public void motorMoveToZeroBackwardAndCalculatedShift(int mid, int findzerospeed, int findzeroedgeSpeed, int acc, int overtime) {
// LOG.info("motorMoveToZeroBackwardAndCalculatedShift : mid={}, findzerospeed={}, findzeroedgeSpeed={}, acc={}, overtime={}", mid, findzerospeed, findzeroedgeSpeed, acc, overtime);
// this.call(mid, BoditechDeviceCmd.MOTOR_MOVE_TO_ZERO_BACKWARD_AND_CALCULATED_SHIFT, findzerospeed, findzeroedgeSpeed, acc, overtime);
// }
//
// // motor move to zero forward
// public void motorMoveToZeroForward(int mid, int findzerospeed, int findzeroedgeSpeed, int acc, int overtime) {
// LOG.info("motorMoveToZeroForward : mid={}, findzerospeed={}, findzeroedgeSpeed={}, acc={}, overtime={}", mid, findzerospeed, findzeroedgeSpeed, acc, overtime);
// this.call(mid, BoditechDeviceCmd.MOTOR_MOVE_TO_ZERO_FORWARD, findzerospeed, findzeroedgeSpeed, acc, overtime);
// }
//
// // motor move to zero forward and calculated shift
// public void motorMoveToZeroForwardAndCalculatedShift(int mid, int findzerospeed, int findzeroedgeSpeed, int acc, int overtime) {
// LOG.info("motorMoveToZeroForwardAndCalculatedShift : mid={}, findzerospeed={}, findzeroedgeSpeed={}, acc={}, overtime={}", mid, findzerospeed, findzeroedgeSpeed, acc, overtime);
// this.call(mid, BoditechDeviceCmd.MOTOR_MOVE_TO_ZERO_FORWARD_AND_CALCULATED_SHIFT, findzerospeed, findzeroedgeSpeed, acc, overtime);
// }
//
// // motor rotate
// public void motorRotate(int mid, int direction, int motorVelocity, int acc) {
// LOG.info("motorRotate : mid={}, direction={}, motorVelocity={}, acc={}", mid, direction, motorVelocity, acc);
// this.call(mid, BoditechDeviceCmd.MOTOR_ROTATE, direction, motorVelocity, acc);
// }
//
// // motor rotate acctime
// public void motorRotateAcctime(int mid, int direction, int motorVelocity, int acctime) {
// LOG.info("motorRotateAcctime : mid={}, direction={}, motorVelocity={}, acctime={}", mid, direction, motorVelocity, acctime);
// this.call(mid, BoditechDeviceCmd.MOTOR_ROTATE_ACCTIME, direction, motorVelocity, acctime);
// }
//
// // motor rotate with torque
// public void motorRotateWithTorque(int mid, int pos, int torque) {
// LOG.info("motorRotateWithTorque : mid={}, pos={}, torque={}", mid, pos, torque);
// this.call(mid, BoditechDeviceCmd.MOTOR_ROTATE_WITH_TORQUE, pos, torque);
// }
//
// // motor calculated pos by move to zero
// public void motorCalculatedPosByMoveToZero(int mid) {
// LOG.info("motorCalculatedPosByMoveToZero : mid={}", mid);
// this.call(mid, BoditechDeviceCmd.MOTOR_CALCULATED_POS_BY_MOVE_TO_ZERO);
// }
//
// // motor read pos
// public void motorReadPos(int mid) {
// LOG.info("motorReadPos : mid={}", mid);
// this.call(mid, BoditechDeviceCmd.MOTOR_READ_POS);
// }
//
// // motor set current pos by change shift
// public void motorSetCurrentPosByChangeShift(int mid, int pos) {
// LOG.info("motorSetCurrentPosByChangeShift : mid={}, pos={}", mid, pos);
// this.call(mid, BoditechDeviceCmd.MOTOR_SET_CURRENT_POS_BY_CHANGE_SHIFT, pos);
// }
//
// // xymotor calculated pos by move to zero
// public void xymotorCalculatedPosByMoveToZero(int mid) {
// LOG.info("xymotorCalculatedPosByMoveToZero : mid={}", mid);
// this.call(mid, BoditechDeviceCmd.XYMOTOR_CALCULATED_POS_BY_MOVE_TO_ZERO);
// }
//
// // xymotor enable
// public void xymotorEnable(int mid, boolean enable) {
// LOG.info("xymotorEnable : mid={}, enable={}", mid, enable);
// this.call(mid, BoditechDeviceCmd.XYMOTOR_ENABLE, enable ? 1 : 0);
// }
//
// // xymotor move by
// public void xymotorMoveBy(int mid, int dx, int dy, int motorVelocity) {
// LOG.info("xymotorMoveBy : mid={}, dx={}, dy={}, motorVelocity={}", mid, dx, dy, motorVelocity);
// this.call(mid, BoditechDeviceCmd.XYMOTOR_MOVE_BY, dx, dy, motorVelocity);
// }
//
// // xymotor move to
// public void xymotorMoveTo(int mid, int x, int y, int motorVelocity) {
// LOG.info("xymotorMoveTo : mid={}, x={}, y={}, motorVelocity={}", mid, x, y, motorVelocity);
// this.call(mid, BoditechDeviceCmd.XYMOTOR_MOVE_TO, x, y, motorVelocity);
// }
//
// // xymotor move to zero
// public void xymotorMoveToZero(int mid) {
// LOG.info("xymotorMoveToZero : mid={}", mid);
// this.call(mid, BoditechDeviceCmd.XYMOTOR_MOVE_TO_ZERO);
// }
//
// // xymotor move to zero and calculated shift
// public void xymotorMoveToZeroAndCalculatedShift(int mid) {
// LOG.info("xymotorMoveToZeroAndCalculatedShift : mid={}", mid);
// this.call(mid, BoditechDeviceCmd.XYMOTOR_MOVE_TO_ZERO_AND_CALCULATED_SHIFT);
// }
//
// // xymotor read pos
// public void xymotorReadPos(int mid) {
// LOG.info("xymotorReadPos : mid={}", mid);
// this.call(mid, BoditechDeviceCmd.XYMOTOR_READ_POS);
// }
//
// // pipette ctrl init device
// public void pipetteCtrlInitDevice(int mid) {
// LOG.info("pipetteCtrlInitDevice : mid={}", mid);
// this.call(mid, BoditechDeviceCmd.PIPETTE_CTRL_INIT_DEVICE);
// }
//
// // pipette ctrl move to ul
// public void pipetteCtrlMoveToUl(int mid, int ul) {
// LOG.info("pipetteCtrlMoveToUl : mid={}, ul={}", mid, ul);
// this.call(mid, BoditechDeviceCmd.PIPETTE_CTRL_MOVE_TO_UL, ul);
// }
//
// // pipette ctrl put tip
// public void pipetteCtrlPutTip(int mid) {
// LOG.info("pipetteCtrlPutTip : mid={}", mid);
// this.call(mid, BoditechDeviceCmd.PIPETTE_CTRL_PUT_TIP);
// }
//
// // module active cfg
// public void moduleActiveCfg(int mid) {
// LOG.info("moduleActiveCfg : mid={}", mid);
// this.call(mid, BoditechDeviceCmd.MODULE_ACTIVE_CFG);
// }
//
// // module break
// public void moduleBreak(int mid) {
// LOG.info("moduleBreak : mid={}", mid);
// this.call(mid, BoditechDeviceCmd.MODULE_BREAK);
// }
//
// // module clear error
// public void moduleClearError(int mid) {
// LOG.info("moduleClearError : mid={}", mid);
// this.call(mid, BoditechDeviceCmd.MODULE_CLEAR_ERROR);
// }
//
// // module enable
// public void moduleEnable(int mid, boolean enable) {
// LOG.info("moduleEnable : mid={}, enable={}", mid, enable);
// this.call(mid, BoditechDeviceCmd.MODULE_ENABLE, enable ? 1 : 0);
// }
//
// // module factory reset
// public void moduleFactoryReset(int mid) {
// LOG.info("moduleFactoryReset : mid={}", mid);
// this.call(mid, BoditechDeviceCmd.MODULE_FACTORY_RESET);
// }
//
// // module flush cfg
// public void moduleFlushCfg(int mid) {
// LOG.info("moduleFlushCfg : mid={}", mid);
// this.call(mid, BoditechDeviceCmd.MODULE_FLUSH_CFG);
// }
//
// // module get error
// public void moduleGetError(int mid) {
// LOG.info("moduleGetError : mid={}", mid);
// this.call(mid, BoditechDeviceCmd.MODULE_GET_ERROR);
// }
//
// // module get inited flag
// public void moduleGetInitedFlag(int mid) {
// LOG.info("moduleGetInitedFlag : mid={}", mid);
// this.call(mid, BoditechDeviceCmd.MODULE_GET_INITED_FLAG);
// }
//
// // module get last exec status
// public void moduleGetLastExecStatus(int mid) {
// LOG.info("moduleGetLastExecStatus : mid={}", mid);
// this.call(mid, BoditechDeviceCmd.MODULE_GET_LAST_EXEC_STATUS);
// }
//
// // module get reg
// public void moduleGetReg(int mid, int param_id) {
// LOG.info("moduleGetReg : mid={}, param_id={}", mid, param_id);
// this.call(mid, BoditechDeviceCmd.MODULE_GET_REG, param_id);
// }
//
// // module get status
// public void moduleGetStatus(int mid) {
// LOG.info("moduleGetStatus : mid={}", mid);
// this.call(mid, BoditechDeviceCmd.MODULE_GET_STATUS);
// }
//
// // module ping
// public void modulePing(int mid) {
// LOG.info("modulePing : mid={}", mid);
// this.call(mid, BoditechDeviceCmd.MODULE_PING);
// }
//
// // module read adc
// public void moduleReadAdc(int mid, int adc_id, int adcIndex) {
// LOG.info("moduleReadAdc : mid={}, adc_id={}, adcIndex={}", mid, adc_id, adcIndex);
// this.call(mid, BoditechDeviceCmd.MODULE_READ_ADC, adc_id, adcIndex);
// }
//
// // module read raw
// public void moduleReadRaw(int mid, int startIndex) {
// LOG.info("moduleReadRaw : mid={}, startIndex={}", mid, startIndex);
// this.call(mid, BoditechDeviceCmd.MODULE_READ_RAW, startIndex);
// }
//
// // module read io
// public void moduleReadIO(int mid) {
// LOG.info("moduleReadIO : mid={}", mid);
// this.call(mid, BoditechDeviceCmd.MODULE_READIO);
// }
//
// // module set inited flag
// public void moduleSetInitedFlag(int mid, int flag) {
// LOG.info("moduleSetInitedFlag : mid={}, flag={}", mid, flag);
// this.call(mid, BoditechDeviceCmd.MODULE_SET_INITED_FLAG, flag);
// }
//
// // module set reg
// public void moduleSetReg(int mid, int param_id, int param_value) {
// LOG.info("moduleSetReg : mid={}, param_id={}, param_value={}", mid, param_id, param_value);
// this.call(mid, BoditechDeviceCmd.MODULE_SET_REG, param_id, param_value);
// }
//
// // module start
// public void moduleStart(int mid) {
// LOG.info("moduleStart : mid={}", mid);
// this.call(mid, BoditechDeviceCmd.MODULE_START);
// }
//
// // module stop
// public void moduleStop(int mid) {
// LOG.info("moduleStop : mid={}", mid);
// this.call(mid, BoditechDeviceCmd.MODULE_STOP);
// }
//
// // module write io
// public void moduleWriteIO(int mid, int ioIndex, int io) {
// LOG.info("moduleWriteIO : mid={}, ioIndex={}, io={}", mid, ioIndex, io);
// this.call(mid, BoditechDeviceCmd.MODULE_WRITEIO, ioIndex, io);
// }
}
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