试管帽夹需要记住状态当前是否夹住试管或者试管帽，以便恢复的时候执行相应的处理操作

src/main/java/com/dreamworks/boditech/driver/Device.java

@@ -6,7 +6,6 @@ import com.dreamworks.boditech.driver.connection.ComWebsocket;
 import com.dreamworks.boditech.driver.connection.ComLisClient;
 import com.dreamworks.boditech.driver.consumable.*;
 import com.dreamworks.boditech.driver.entity.DeviceLogEntry;
-import com.dreamworks.boditech.entity.WebsocketServerMessageErrorEvent;
 import com.dreamworks.boditech.mapper.DeviceLogMapper;
 import com.dreamworks.boditech.service.*;
 import com.dreamworks.boditech.utils.MyByteBuffer;
@@ -74,7 +73,7 @@ public class Device {
         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 ActTestTubeCapClipMotor(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));

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

@@ -0,0 +1,59 @@
+package com.dreamworks.boditech.driver.actuator;
+import com.dreamworks.boditech.driver.Device;
+import com.dreamworks.boditech.service.RuntimeVariableService;
+
+import java.util.Map;
+public class ActTestTubeCapClipMotor extends ActMotor {
+    // runtime variable status : empty
+    public static final String RT_STATUS_EMPTY = "EMPTY";
+    // runtime variable status : tube
+    public static final String RT_STATUS_TUBE = "TUBE";
+    // runtime variable status : cap
+    public static final String RT_STATUS_CAP = "CAP";
+
+    // constructor
+    public ActTestTubeCapClipMotor(Integer mid, Device device) {
+        super(mid, device);
+    }
+
+    // open
+    public void open() {
+        this.moveTo("shakeTestTubeCapClipOpen");
+        RuntimeVariableService rtVariables = this.getDevice().runtimeVariableService;
+        rtVariables.setString("DeviceTubeCapClipStatus", ActTestTubeCapClipMotor.RT_STATUS_EMPTY);
+        rtVariables.setString("DeviceTubeCapClipTubeType", "");
+    }
+
+    // close
+    public void close() {
+        this.moveTo("shakeTestTubeCapClipClose");
+        RuntimeVariableService rtVariables = this.getDevice().runtimeVariableService;
+        rtVariables.setString("DeviceTubeCapClipStatus", ActTestTubeCapClipMotor.RT_STATUS_EMPTY);
+        rtVariables.setString("DeviceTubeCapClipTubeType", "");
+    }
+
+    // clip tube body
+    public void clipTubeBody( String tubeType ) {
+        this.moveTo("shakeTestTubeCapClipClose");
+        RuntimeVariableService rtVariables = this.getDevice().runtimeVariableService;
+        rtVariables.setString("DeviceTubeCapClipStatus", ActTestTubeCapClipMotor.RT_STATUS_TUBE);
+        rtVariables.setString("DeviceTubeCapClipTubeType", tubeType);
+    }
+
+    // clip tube cap
+    public void clipTubeCap( String tubeType ) {
+        this.moveTo("shakeTestTubeCapClipClose");
+        RuntimeVariableService rtVariables = this.getDevice().runtimeVariableService;
+        rtVariables.setString("DeviceTubeCapClipStatus", ActTestTubeCapClipMotor.RT_STATUS_CAP);
+    }
+
+    // get clip status
+    public String getClipStatus() {
+        return this.getDevice().runtimeVariableService.getString("DeviceTubeCapClipStatus");
+    }
+
+    // get clip tube type
+    public String getClipTubeType() {
+        return this.getDevice().runtimeVariableService.getString("DeviceTubeCapClipTubeType");
+    }
+}

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

@@ -2,6 +2,7 @@ package com.dreamworks.boditech.driver.task;
 import com.dreamworks.boditech.driver.Device;
 import com.dreamworks.boditech.driver.DeviceRegister;
 import com.dreamworks.boditech.driver.actuator.*;
+import com.dreamworks.boditech.driver.consumable.CsmSampleTube;
 import com.dreamworks.boditech.driver.entity.IncubatorSlot;
 import com.dreamworks.boditech.driver.entity.WsMessageEvent;
 import com.dreamworks.boditech.service.AccountService;
@@ -70,19 +71,11 @@ public class TaskStartReset extends TaskBase {
         ActPipette pipette = (ActPipette)this.device.getActuator(ActuatorModule.ARM_Z_PIPETTE);
         pipette.initDevice();
 
-        // 05. 摇匀电机复位
-        // @TODO : 摇匀电机没有零点，暂时没法复位
-
         // 06. 试管帽夹复位
-        LOG.info("[reset] test tube shaking cap clip motor");
-        ActMotor testTubeShakingCapClipMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_CAP_CLIP_MOTOR);
-        testTubeShakingCapClipMotor.moveTo("testTubeShakingCapClipClose");
+        this.testTubeCapClipMotorReset();
 
-        // 07. 摇匀升降电机复位
-        LOG.info("[reset] test tube shaking move motor");
-        ActMotor testTubeShakingMoveMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_MOVE_MOTOR);
-        testTubeShakingMoveMotor.reset();
-        this.cleanTestTubeCapClipIfError();
+        // 05. 摇匀电机复位
+        // @TODO : 摇匀电机没有零点，暂时没法复位
 
         // 08. 试管架电机复位
         LOG.info("[reset] test tube rack move motor");
@@ -130,6 +123,57 @@ public class TaskStartReset extends TaskBase {
     }
 
     /**
+     * 试管帽夹复位
+     * - 如果试管帽夹中没有任何东西，直接打开，然后上升到零点，关闭
+     * - 如果试管帽夹中有试管，先把试管放到试管架上，然后打开，上升到零点，关闭
+     * - 如果试管夹中有试管帽，先判断什么类型的试管，然后盖上试管帽，上升到零点，关闭
+     */
+    private void testTubeCapClipMotorReset() {
+        LOG.info("[reset] test tube shaking cap clip motor");
+
+        ActMotor moveMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_MOVE_MOTOR);
+        ActTestTubeCapClipMotor clipMotor = (ActTestTubeCapClipMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_CAP_CLIP_MOTOR);
+        // 没有夹住任何东西，直接打开，然后上升到零点，关闭
+        if (ActTestTubeCapClipMotor.RT_STATUS_EMPTY.equals(clipMotor.getClipStatus())) {
+            clipMotor.open();
+            moveMotor.reset();
+            clipMotor.close();
+            return ;
+        }
+
+        // 有试管，先把试管放到试管架上，然后打开，上升到零点，关闭
+        if ( ActTestTubeCapClipMotor.RT_STATUS_TUBE.equals(clipMotor.getClipStatus()) ) {
+            moveMotor.reset();
+            moveMotor.moveTo("shakeTestTubeMoveCapClip");
+            clipMotor.open();
+            moveMotor.reset();
+            clipMotor.close();
+            return ;
+        }
+
+        // 有试管帽，先判断什么类型的试管，然后盖上试管帽，上升到零点，关闭
+        if ( ActTestTubeCapClipMotor.RT_STATUS_CAP.equals(clipMotor.getClipStatus()) ) {
+            String tubeType = clipMotor.getClipTubeType();
+            if (CsmSampleTube.TYPE_BLOOD_TUBE_5ML.equals(tubeType)) { // 5ml全血试管
+                ActMotor testTubeShakingClipMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_CLIP_MOTOR);
+                testTubeShakingClipMotor.rotate(ActMotor.ROTATE_DIRECTION_CLOCKWISE);
+
+                moveMotor.reset();
+                moveMotor.moveTo("shakeTestTubeMoveCapClip");
+                clipMotor.open();
+                moveMotor.moveTo("shakeTestTubeMoveStandby");
+                clipMotor.close();
+
+                testTubeShakingClipMotor.rotate(ActMotor.ROTATE_DIRECTION_COUNTER_CLOCKWISE);
+                testTubeShakingClipMotor.stop();
+            } else if (CsmSampleTube.TYPE_BLOOD_TUBE_3ML.equals(tubeType)) { // 3ml全血试管
+                // @TODO : 3ml全血试管暂时没法盖试管帽，试管帽夹需要调整角度，但目前无法调整
+                throw new RuntimeException("3ml全血试管暂时没法盖试管帽，试管帽夹需要调整角度，但目前无法调整");
+            }
+        }
+    }
+
+    /**
      * 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。
      */
@@ -190,21 +234,6 @@ public class TaskStartReset extends TaskBase {
         }
     }
 
-    // clean test tube cap clip if error
-    private void cleanTestTubeCapClipIfError() {
-        if ( !Objects.equals(this.mode, TaskStartReset.MODE_ERROR) ) {
-            return;
-        }
-
-        // @TODO : 出错的情况下这个时候可能还存在试管，需要把试管放回到试管架上
-        // @TODO : 但是这个时候也可能试管不在试管帽夹上 ~~~ 这个目前判断不了
-        // @TODO : 额 ~~~ 这个要不然直接忽略掉， 因为前台已经给弹框提示要清理了 ~~~
-//        testTubeShakingMoveMotor.moveTo("testTubeShakingCapPickUp");
-//        testTubeShakingCapClipMotor.moveTo("testTubeShakingCapClipOpen");
-//        testTubeShakingMoveMotor.moveTo("testTubeShakingUpDownStandBy");
-//        testTubeShakingCapClipMotor.moveTo("testTubeShakingCapClipClose");
-    }
-
     // clean test tube rack track if error
     private void cleanTestTubeRackTrackIfError() {
         if ( !Objects.equals(this.mode, TaskStartReset.MODE_ERROR) ) {

src/main/java/com/dreamworks/boditech/driver/task/step/StepPretreatment.java

@@ -20,7 +20,7 @@ public class StepPretreatment extends StepBase {
     // task test
     private TaskTest taskTest;
     // test tube cap clip motor
-    private ActMotor testTubeCapClipMotor;
+    private ActTestTubeCapClipMotor testTubeCapClipMotor;
     // test tube move motor
     private ActMotor testTubeMoveMotor;
     // test tube shake motor
@@ -50,7 +50,7 @@ public class StepPretreatment extends StepBase {
         this.taskTest = (TaskTest)task;
 
         Device device = executor.getDevice();
-        this.testTubeCapClipMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_CAP_CLIP_MOTOR);
+        this.testTubeCapClipMotor = (ActTestTubeCapClipMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_CAP_CLIP_MOTOR);
         this.testTubeMoveMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_MOVE_MOTOR);
         this.testTubeShakeMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_SHAKE_MOTOR);
         this.testTubeClipMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_CLIP_MOTOR);
@@ -115,12 +115,13 @@ public class StepPretreatment extends StepBase {
 
     // 全血5ml试管
     private void shakeBloodTube5ml() {
-        this.testTubeCapClipMotor.moveTo("shakeTestTubeCapClipOpen");
+        this.testTubeCapClipMotor.open();
         this.testTubeMoveMotor.moveTo("shakeTestTubeMoveCapClip");
-        this.testTubeCapClipMotor.moveTo("shakeTestTubeCapClipClose");
+        this.testTubeCapClipMotor.clipTubeBody(CsmSampleTube.TYPE_BLOOD_TUBE_5ML);
         this.testTubeMoveMotor.moveTo("shakeTestTubeMoveStandby");
         this.shakeMotorExecute();
         this.testTubeMoveMotor.moveTo("shakeTestTubeMoveCapClip");
+        this.testTubeCapClipMotor.clipTubeCap(CsmSampleTube.TYPE_BLOOD_TUBE_5ML);
         this.uncap("shaking");
     }