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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

master
sige 2 years ago
parent
5a9c1bdb15
commit
23c7f24b3c
4 changed files with 120 additions and 32 deletions
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  1. 3
      src/main/java/com/dreamworks/boditech/driver/Device.java
  2. 59
      src/main/java/com/dreamworks/boditech/driver/actuator/ActTestTubeCapClipMotor.java
  3. 81
      src/main/java/com/dreamworks/boditech/driver/task/TaskStartReset.java
  4. 9
      src/main/java/com/dreamworks/boditech/driver/task/step/StepPretreatment.java

3
src/main/java/com/dreamworks/boditech/driver/Device.java
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@ -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));

59
src/main/java/com/dreamworks/boditech/driver/actuator/ActTestTubeCapClipMotor.java
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@ -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");
}
}

81
src/main/java/com/dreamworks/boditech/driver/task/TaskStartReset.java
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@ -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) ) {

9
src/main/java/com/dreamworks/boditech/driver/task/step/StepPretreatment.java
View File

@ -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");
}

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