孵育盘清理

src/main/java/com/dreamworks/boditech/driver/actuator/ActIncubator.java

@@ -1,6 +1,7 @@
 package com.dreamworks.boditech.driver.actuator;
 import com.dreamworks.boditech.driver.Device;
 import com.dreamworks.boditech.driver.entity.IncubatorSlot;
+import com.dreamworks.boditech.utils.MyCommon;
 public class ActIncubator extends ActMotor {
     // slots
     private final IncubatorSlot[] slots;
@@ -41,11 +42,13 @@ public class ActIncubator extends ActMotor {
     // lock slot
     public void lockSlot( int index ) {
         this.slots[index].isFree = false;
+        this.updateRuntimeSlotStatus();
     }
 
     // unlock slot
     public void unlockSlot( int index ) {
         this.slots[index].isFree = true;
+        this.updateRuntimeSlotStatus();
     }
 
     // has locked slot
@@ -57,4 +60,12 @@ public class ActIncubator extends ActMotor {
         }
         return false;
     }
+
+    // update runtime slot status
+    private void updateRuntimeSlotStatus() {
+        this.getDevice().runtimeVariableService.setString(
+            "DeviceIncubatorSlots",
+            MyCommon.objectToJson(this.slots)
+        );
+    }
 }

src/main/java/com/dreamworks/boditech/driver/task/TaskStartReset.java

@@ -8,6 +8,8 @@ import com.dreamworks.boditech.service.AccountService;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 
+import java.util.List;
+import java.util.Map;
 import java.util.Objects;
 public class TaskStartReset extends TaskBase {
     // mode : normal
@@ -114,22 +116,36 @@ public class TaskStartReset extends TaskBase {
         LOG.info("[reset] task finished, cost {}s", (System.currentTimeMillis() - startTime)/1000.00);
     }
 
-    // clean incubator if error
+    /**
+     * 清理孵育盘， 孵育盘卡位状态由数据库获取，清理完成后重置数据库变量。
+     * 数据库变量由每次获取和释放孵育盘卡位时更新。
+     */
     private void cleanIncubatorIfError() {
         if ( !Objects.equals(this.mode, TaskStartReset.MODE_ERROR) ) {
             return;
         }
 
-        this.analysisScanMotor.moveTo("analysisScanMotorDropCard");
         ActIncubator incubatorMotor = (ActIncubator)device.getActuator(ActuatorModule.INCUBATOR_MOTOR);
-        IncubatorSlot[] incubatorSlots = incubatorMotor.getSlots();
-        for ( IncubatorSlot incubatorSlot : incubatorSlots ) {
-            incubatorMotor.moveTo(incubatorSlot.getExitLocation());
+        this.analysisScanMotor.moveTo("analysisScanMotorDropCard");
+
+        List<Map<String,Object>> slots = this.device.runtimeVariableService.getJson("DeviceIncubatorSlots", List.class);
+        for ( Map<String,Object> slotInfo : slots ) {
+            Boolean isFree = (Boolean)slotInfo.get("isFree");
+            if ( isFree ) {
+                continue;
+            }
+
+            Integer index = (Integer)slotInfo.get("index");
+            IncubatorSlot slot = incubatorMotor.getSlotByIndex(index);
+            LOG.info("[reset] incubator slot clean index {}", index);
+            incubatorMotor.moveTo(slot.getExitLocation());
             this.analysisPushMotor.moveTo("analysisPushMotorScanStart");
             this.analysisPushMotor.moveTo("analysisPushMotorStandby");
         }
 
         this.analysisScanMotor.moveTo("analysisScanMotorStandBy");
+        this.device.runtimeVariableService.setString("DeviceIncubatorSlots", "[]");
+        LOG.info("[reset] incubator clean finished");
     }
 
     // clean analysis scan track if error

src/main/java/com/dreamworks/boditech/service/DeviceService.java

@@ -34,13 +34,14 @@ public class DeviceService {
      * reset device
      */
     public void reset() {
-//        String deviceWorkingStatus = this.runtimeVariableService.getString("DeviceWorkingStatus");
-//        if ( !errorReset && "RUNNING".equals(deviceWorkingStatus) ) {
-//            throw new RuntimeException("DEVICE_RESET_NOT_CLEAN");
-//        }
-
         TaskStartReset task = new TaskStartReset();
         task.mode = TaskStartReset.MODE_NORMAL;
+
+        String deviceWorkingStatus = this.runtimeVariableService.getString("DeviceWorkingStatus");
+        if ( "RUNNING".equals(deviceWorkingStatus) ) {
+            task.mode = TaskStartReset.MODE_ERROR;
+        }
+
         Executor.executeTask(this.device, task);
         this.runtimeVariableService.setString("DeviceWorkingStatus","RUNNING");
     }

src/main/java/com/dreamworks/boditech/service/RuntimeVariableService.java

@@ -1,5 +1,6 @@
 package com.dreamworks.boditech.service;
 import com.dreamworks.boditech.mapper.RuntimeVariableMapper;
+import com.dreamworks.boditech.utils.MyCommon;
 import jakarta.annotation.Resource;
 import org.springframework.stereotype.Service;
 @Service
@@ -40,4 +41,16 @@ public class RuntimeVariableService {
     public void setString(String variableName, String variableValue) {
         this.runtimeVariableMapper.setVariableValue(variableName, variableValue);
     }
+
+    // get json value
+    public <T> T getJson(String variableName, Class<T> clazz ) {
+        String json = this.getString(variableName);
+        return MyCommon.jsonToObject(json, clazz);
+    }
+
+    // set json value
+    public void setJson(String variableName, Object variableValue) {
+        String json = MyCommon.objectToJson(variableValue);
+        this.setString(variableName, json);
+    }
 }