From 53e8c81b539a1eb2f602604b96637ef8351b5398 Mon Sep 17 00:00:00 2001 From: sige Date: Sat, 9 Dec 2023 20:28:14 +0800 Subject: [PATCH] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E5=81=9C=E6=AD=A2=E9=87=8D?= =?UTF-8?q?=E7=BD=AE=E6=93=8D=E4=BD=9C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../com/dreamworks/boditech/driver/Device.java | 3 + .../boditech/driver/actuator/ActIncubator.java | 5 + .../boditech/driver/actuator/ActMotor.java | 8 +- .../boditech/driver/actuator/ActPipette.java | 14 +- .../boditech/driver/actuator/ActuatorBase.java | 7 + .../dreamworks/boditech/driver/task/TaskReset.java | 117 --------------- .../boditech/driver/task/TaskStartReset.java | 157 +++++++++++++++++++++ .../boditech/driver/task/TaskStopReset.java | 9 ++ .../driver/task/step/StepPretreatment.java | 15 +- .../boditech/mapper/RuntimeVariableMapper.java | 12 ++ .../dreamworks/boditech/service/DeviceService.java | 45 +++--- .../boditech/service/RuntimeVariableService.java | 33 +++++ 12 files changed, 276 insertions(+), 149 deletions(-) delete mode 100644 src/main/java/com/dreamworks/boditech/driver/task/TaskReset.java create mode 100644 src/main/java/com/dreamworks/boditech/driver/task/TaskStartReset.java create mode 100644 src/main/java/com/dreamworks/boditech/driver/task/TaskStopReset.java create mode 100644 src/main/java/com/dreamworks/boditech/mapper/RuntimeVariableMapper.java create mode 100644 src/main/java/com/dreamworks/boditech/service/RuntimeVariableService.java diff --git a/src/main/java/com/dreamworks/boditech/driver/Device.java b/src/main/java/com/dreamworks/boditech/driver/Device.java index f229cd2..d572b20 100644 --- a/src/main/java/com/dreamworks/boditech/driver/Device.java +++ b/src/main/java/com/dreamworks/boditech/driver/Device.java @@ -7,6 +7,7 @@ import com.dreamworks.boditech.mapper.DeviceLogMapper; import com.dreamworks.boditech.mapper.ProjectMapper; import com.dreamworks.boditech.service.ProjectService; import com.dreamworks.boditech.service.RuntimeOptionService; +import com.dreamworks.boditech.service.RuntimeVariableService; import com.dreamworks.boditech.utils.MyByteBuffer; import jakarta.annotation.PostConstruct; import jakarta.annotation.Resource; @@ -36,6 +37,8 @@ public class Device { public ProjectService projectService; @Resource public DeviceLogMapper deviceLogMapper; + @Resource + public RuntimeVariableService runtimeVariableService; // consumable : test cards public final CsmTestCardManager testCards = new CsmTestCardManager(this); diff --git a/src/main/java/com/dreamworks/boditech/driver/actuator/ActIncubator.java b/src/main/java/com/dreamworks/boditech/driver/actuator/ActIncubator.java index 825f1fb..bf340b5 100644 --- a/src/main/java/com/dreamworks/boditech/driver/actuator/ActIncubator.java +++ b/src/main/java/com/dreamworks/boditech/driver/actuator/ActIncubator.java @@ -28,6 +28,11 @@ public class ActIncubator extends ActMotor { return null; } + // get slot by index + public IncubatorSlot getSlotByIndex( int index ) { + return this.slots[index]; + } + // lock slot public void lockSlot( int index ) { this.slots[index].isFree = false; diff --git a/src/main/java/com/dreamworks/boditech/driver/actuator/ActMotor.java b/src/main/java/com/dreamworks/boditech/driver/actuator/ActMotor.java index 04887b6..cb5f4c3 100644 --- a/src/main/java/com/dreamworks/boditech/driver/actuator/ActMotor.java +++ b/src/main/java/com/dreamworks/boditech/driver/actuator/ActMotor.java @@ -3,6 +3,8 @@ import com.dreamworks.boditech.driver.DeviceCommand; import com.dreamworks.boditech.driver.Device; import com.dreamworks.boditech.driver.DeviceRegister; +import java.nio.ByteBuffer; + public class ActMotor extends ActuatorBase { // rotate direction public static final int ROTATE_DIRECTION_CLOCKWISE = 1; @@ -34,7 +36,11 @@ public class ActMotor extends ActuatorBase { // move to given position public void moveTo(int position) { - this.call(DeviceCommand.CMD_MOTOR_EASY_MOVE_TO, position); + ByteBuffer response = this.call(DeviceCommand.CMD_MOTOR_EASY_MOVE_TO, position); + if ( null == response ) { + this.moveTo(position); + return ; + } this.waitForFinish(); } diff --git a/src/main/java/com/dreamworks/boditech/driver/actuator/ActPipette.java b/src/main/java/com/dreamworks/boditech/driver/actuator/ActPipette.java index f123d5f..46b48c6 100644 --- a/src/main/java/com/dreamworks/boditech/driver/actuator/ActPipette.java +++ b/src/main/java/com/dreamworks/boditech/driver/actuator/ActPipette.java @@ -2,11 +2,9 @@ package com.dreamworks.boditech.driver.actuator; import com.dreamworks.boditech.driver.DeviceCommand; import com.dreamworks.boditech.driver.Device; import com.dreamworks.boditech.driver.consumable.CsmPipetteTip; - public class ActPipette extends ActuatorBase { - // indicate whether the pipette has tip - // @TODO : this should be false by default - private boolean hasTip = true; + // has tip + private Boolean hasTip = false; // constructor public ActPipette(Integer mid, Device device) { @@ -24,7 +22,10 @@ public class ActPipette extends ActuatorBase { this.hasTip = true; } - // drop tip + /** + * drop tip to discard hole, and move arm z to 0, it would not + * move arm xy to any position after drop tip. + */ public void dropTip () { ActArmXY armXY = (ActArmXY)this.getDevice().getActuator(ActuatorModule.ARM_XY); ActMotor armZMotor = (ActMotor)this.getDevice().getActuator(ActuatorModule.ARM_Z_MOTOR); @@ -33,10 +34,11 @@ public class ActPipette extends ActuatorBase { armZMotor.moveTo("tipDiscardDepth"); armXY.moveTo("tipDiscardDrop"); armZMotor.moveTo(0); + this.hasTip = false; } // get whether the pipette has tip - public boolean getHasTip() { + public Boolean getHasTip() { return this.hasTip; } diff --git a/src/main/java/com/dreamworks/boditech/driver/actuator/ActuatorBase.java b/src/main/java/com/dreamworks/boditech/driver/actuator/ActuatorBase.java index c1386b4..b26bb66 100644 --- a/src/main/java/com/dreamworks/boditech/driver/actuator/ActuatorBase.java +++ b/src/main/java/com/dreamworks/boditech/driver/actuator/ActuatorBase.java @@ -1,6 +1,8 @@ package com.dreamworks.boditech.driver.actuator; import com.dreamworks.boditech.driver.DeviceCommand; import com.dreamworks.boditech.driver.Device; +import com.dreamworks.boditech.service.RuntimeVariableService; + import java.nio.ByteBuffer; import java.nio.ByteOrder; import java.util.Objects; @@ -9,11 +11,14 @@ public class ActuatorBase implements Actuator { private final Device device; // mid private final Integer mid; + // runtime variables + protected RuntimeVariableService runtimeVariables; // constructor public ActuatorBase(Integer mid, Device device) { this.mid = mid; this.device = device; + this.runtimeVariables = device.runtimeVariableService; } // get device @@ -26,6 +31,8 @@ public class ActuatorBase implements Actuator { return mid; } + + // call device command protected ByteBuffer call(Integer cmd, Object ... params) { return this.getDevice().call(cmd, this.getMid(), params); diff --git a/src/main/java/com/dreamworks/boditech/driver/task/TaskReset.java b/src/main/java/com/dreamworks/boditech/driver/task/TaskReset.java deleted file mode 100644 index 923b2a7..0000000 --- a/src/main/java/com/dreamworks/boditech/driver/task/TaskReset.java +++ /dev/null @@ -1,117 +0,0 @@ -package com.dreamworks.boditech.driver.task; -import com.dreamworks.boditech.driver.Device; -import com.dreamworks.boditech.driver.DeviceRegister; -import com.dreamworks.boditech.driver.actuator.ActArmXY; -import com.dreamworks.boditech.driver.actuator.ActIncubator; -import com.dreamworks.boditech.driver.actuator.ActMotor; -import com.dreamworks.boditech.driver.actuator.ActuatorModule; -import com.dreamworks.boditech.driver.entity.IncubatorSlot; - -import java.util.Objects; - -public class TaskReset extends TaskBase { - // mode : normal - public static final Integer MODE_NORMAL = 0; - // mode : error - public static final Integer MODE_ERROR = 1; - - // reset mode - public Integer mode = MODE_NORMAL; - - @Override - public void execute(Executor executor) { - Device device = executor.getDevice(); - - //01. 试管夹复位 - ActMotor testTubeShakingClipMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_CLIP_MOTOR); - testTubeShakingClipMotor.reset(); - - // 02. 试管夹旋转复位 - ActMotor testTubeShakingClipRotateMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_ROTATE_MOTOR); - testTubeShakingClipRotateMotor.reset(); - - // 03. 机械臂Z轴复位 - ActMotor armZMotor = (ActMotor)device.getActuator(ActuatorModule.ARM_Z_MOTOR); - armZMotor.reset(); - - // 04. 机械臂XY轴复位 - ActArmXY armXY = (ActArmXY)device.getActuator(ActuatorModule.ARM_XY); - armXY.reset(); - - // 错误模式下，可能还有TIP未丢弃 - if (Objects.equals(this.mode, TaskReset.MODE_ERROR)) { - armXY.moveTo("tipDiscardPrepareHole"); - armZMotor.moveTo("tipDiscardDepth"); - armXY.moveTo("tipDiscardDrop"); - armZMotor.reset(); - } - - // 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 - ActMotor testTubeShakingCapClipMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_CAP_CLIP_MOTOR); - testTubeShakingCapClipMotor.moveTo("testTubeShakingCapClipClose"); - - // 07. 摇匀升降电机复位 - // @TODO : 升降电机需要向上复位，但是目前没有更新，所以暂时不复位 - ActMotor testTubeShakingMoveMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_MOVE_MOTOR); - // testTubeShakingMoveMotor.reset(); - - if ( Objects.equals(this.mode, TaskReset.MODE_ERROR) ) { - // 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 - testTubeShakingMoveMotor.moveTo("testTubeShakingCapPickUp"); - testTubeShakingCapClipMotor.moveTo("testTubeShakingCapClipOpen"); - testTubeShakingMoveMotor.moveTo("testTubeShakingUpDownStandBy"); - testTubeShakingCapClipMotor.moveTo("testTubeShakingCapClipClose"); - } - - // 08. 试管架电机复位 - ActMotor testTubeRackMoveMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_RACK_MOVE_MOTOR); - testTubeRackMoveMotor.reset(); - testTubeRackMoveMotor.moveTo("testTubeRackExitPrepare"); - testTubeRackMoveMotor.moveTo("testTubeRackExit"); - ActMotor testTubeRackExitMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_RACK_EXIT_MOTOR); - testTubeRackExitMotor.moveBy(500); - testTubeRackMoveMotor.reset(); - - // 09. 板夹仓推杆电机复位 - ActMotor testCardFeedMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_CARD_FEED_MOTOR); - // @TODO : 检查是否存在试管正在被从板夹仓推出 - // @TODO : 读取试管夹二次验证相机数据，判断是否存在上述情况 - boolean hasTestCardInFeedRack = true; - if ( hasTestCardInFeedRack ) { - testCardFeedMotor.moveToPoint(ActMotor.POINT_END); - } - testCardFeedMotor.reset(); - testCardFeedMotor.moveTo("testCardFeedStandBy"); - - // 10. 板夹仓复位 - ActMotor testCardBoxMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_CARD_BOX_MOTOR); - testCardBoxMotor.reset(); - - // 11. 光学扫描电机复位 - ActMotor analysisScanMotor = (ActMotor)device.getActuator(ActuatorModule.ANALYSIS_SCAN_MOTOR); - analysisScanMotor.reset(); - analysisScanMotor.moveTo("analysisScanMotorStandBy"); - - // 11. 光学推杆电机复位 - ActMotor analysisPushMotor = (ActMotor)device.getActuator(ActuatorModule.ANALYSIS_PUSH_MOTOR); - Integer analysisPushMotorInputState = analysisPushMotor.getRegister(DeviceRegister.MODULE_INPUT_STATE); - boolean isAnalysisPushMotorPushing = ((analysisPushMotorInputState >> 1) & 0x01) == 0x00; - if ( isAnalysisPushMotorPushing ) { - analysisPushMotor.reset(); - analysisScanMotor.moveTo("analysisScanMotorDropCard"); - analysisScanMotor.moveTo("analysisScanMotorStandBy"); - analysisPushMotor.moveTo("analysisPushMotorStandby"); - } - - // 12. 孵育盘电机复位 - ActIncubator incubatorMotor = (ActIncubator)device.getActuator(ActuatorModule.INCUBATOR_MOTOR); - incubatorMotor.reset(); - IncubatorSlot incubatorSlot = incubatorMotor.getFreeSlot(); - incubatorMotor.moveTo(incubatorSlot.getExitLocation()); - analysisPushMotor.reset(); - analysisPushMotor.moveTo("analysisPushMotorStandby"); - } -} diff --git a/src/main/java/com/dreamworks/boditech/driver/task/TaskStartReset.java b/src/main/java/com/dreamworks/boditech/driver/task/TaskStartReset.java new file mode 100644 index 0000000..e162d19 --- /dev/null +++ b/src/main/java/com/dreamworks/boditech/driver/task/TaskStartReset.java @@ -0,0 +1,157 @@ +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.entity.IncubatorSlot; +import java.util.Objects; +public class TaskStartReset extends TaskBase { + // mode : normal + public static final Integer MODE_NORMAL = 0; + // mode : error + public static final Integer MODE_ERROR = 1; + + // reset mode + public Integer mode = MODE_NORMAL; + // device instance + private Device device; + // test tube rack move motor + private ActMotor testTubeRackMoveMotor; + // test card feed motor + private ActMotor testCardFeedMotor; + // analysis scan motor + private ActMotor analysisPushMotor; + // analysis scan motor + private ActMotor analysisScanMotor; + + @Override + public void execute(Executor executor) { + this.device = executor.getDevice(); + this.testTubeRackMoveMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_RACK_MOVE_MOTOR); + this.analysisPushMotor = (ActMotor)device.getActuator(ActuatorModule.ANALYSIS_PUSH_MOTOR); + this.analysisScanMotor = (ActMotor)device.getActuator(ActuatorModule.ANALYSIS_SCAN_MOTOR); + + //01. 试管夹复位 + ActMotor testTubeShakingClipMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_CLIP_MOTOR); + testTubeShakingClipMotor.reset(); + + // 02. 试管夹旋转复位 + ActMotor testTubeShakingClipRotateMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_ROTATE_MOTOR); + testTubeShakingClipRotateMotor.reset(); + + // 03. 机械臂Z轴复位 + ActMotor armZMotor = (ActMotor)device.getActuator(ActuatorModule.ARM_Z_MOTOR); + armZMotor.reset(); + + // 04. 机械臂XY轴复位 + ActArmXY armXY = (ActArmXY)device.getActuator(ActuatorModule.ARM_XY); + armXY.reset(); + + // 05. 丢弃移液枪头 + ActPipette pipette = (ActPipette)this.device.getActuator(ActuatorModule.ARM_Z_PIPETTE); + pipette.dropTip(); + armXY.reset(); + + // 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 + ActMotor testTubeShakingCapClipMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_CAP_CLIP_MOTOR); + testTubeShakingCapClipMotor.moveTo("testTubeShakingCapClipClose"); + + // 07. 摇匀升降电机复位 + ActMotor testTubeShakingMoveMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_MOVE_MOTOR); + testTubeShakingMoveMotor.reset(); + this.cleanTestTubeCapClipIfError(); + + // 08. 试管架电机复位 + this.testTubeRackMoveMotor.reset(); + this.cleanTestTubeRackTrackIfError(); + + // 09. 板夹仓推杆电机复位 + this.testCardFeedMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_CARD_FEED_MOTOR); + this.cleanTestCardFeedTrackIfError(); + this.testCardFeedMotor.reset(); + this.testCardFeedMotor.moveTo("testCardFeedStandBy"); + + // 10. 板夹仓复位 + ActMotor testCardBoxMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_CARD_BOX_MOTOR); + testCardBoxMotor.reset(); + + // 11. 光学扫描电机复位 + this.analysisScanMotor.reset(); + this.analysisScanMotor.moveTo("analysisScanMotorStandBy"); + + this.cleanAnalysisPullTrackIfError(); + + // 12. 孵育盘电机复位 + ActIncubator incubatorMotor = (ActIncubator)device.getActuator(ActuatorModule.INCUBATOR_MOTOR); + incubatorMotor.reset(); + IncubatorSlot incubatorSlot = incubatorMotor.getFreeSlot(); + incubatorMotor.moveTo(incubatorSlot.getExitLocation()); + + // 11. 光学推杆电机复位 + this.analysisPushMotor.reset(); + this.analysisPushMotor.moveTo("analysisPushMotorStandby"); + } + + // clean analysis scan track if error + private void cleanAnalysisPullTrackIfError() { + if ( !Objects.equals(this.mode, TaskStartReset.MODE_ERROR) ) { + return; + } + + Integer analysisPushMotorInputState = analysisPushMotor.getRegister(DeviceRegister.MODULE_INPUT_STATE); + boolean isAnalysisPushMotorPushing = ((analysisPushMotorInputState >> 1) & 0x01) == 0x00; + if ( isAnalysisPushMotorPushing ) { + this.analysisPushMotor.reset(); + this.analysisScanMotor.moveTo("analysisScanMotorDropCard"); + this.analysisScanMotor.moveTo("analysisScanMotorStandBy"); + this.analysisPushMotor.moveTo("analysisPushMotorStandby"); + } + } + + // clean test card feed track if error + private void cleanTestCardFeedTrackIfError() { + if ( !Objects.equals(this.mode, TaskStartReset.MODE_ERROR) ) { + return; + } + + // @TODO : 检查是否存在试管正在被从板夹仓推出 + // @TODO : 读取试管夹二次验证相机数据，判断是否存在上述情况 + boolean hasTestCardInFeedRack = true; + if ( hasTestCardInFeedRack ) { + this.testCardFeedMotor.moveToPoint(ActMotor.POINT_END); + } + } + + // 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) ) { + return; + } + + // 试管架推送至退出位置 + testTubeRackMoveMotor.moveTo("testTubeRackExitPrepare"); + testTubeRackMoveMotor.moveTo("testTubeRackExit"); + + // 推出试管架并复位 + ActMotor testTubeRackExitMotor = (ActMotor)this.device.getActuator(ActuatorModule.TEST_TUBE_RACK_EXIT_MOTOR); + testTubeRackExitMotor.moveBy("testTubeRackExitDistance"); + testTubeRackMoveMotor.moveTo(0); + } +} diff --git a/src/main/java/com/dreamworks/boditech/driver/task/TaskStopReset.java b/src/main/java/com/dreamworks/boditech/driver/task/TaskStopReset.java new file mode 100644 index 0000000..ed9a63a --- /dev/null +++ b/src/main/java/com/dreamworks/boditech/driver/task/TaskStopReset.java @@ -0,0 +1,9 @@ +package com.dreamworks.boditech.driver.task; +import com.dreamworks.boditech.driver.Device; +public class TaskStopReset extends TaskBase { + @Override + public void execute(Executor executor) { + Device device = executor.getDevice(); + // @TODO : 后面慢慢写 ~~~ + } +} diff --git a/src/main/java/com/dreamworks/boditech/driver/task/step/StepPretreatment.java b/src/main/java/com/dreamworks/boditech/driver/task/step/StepPretreatment.java index 33514c0..e2cc2d6 100644 --- a/src/main/java/com/dreamworks/boditech/driver/task/step/StepPretreatment.java +++ b/src/main/java/com/dreamworks/boditech/driver/task/step/StepPretreatment.java @@ -56,13 +56,14 @@ public class StepPretreatment extends StepBase { this.testTubeMoveMotor.moveTo("shakeTestTubeMoveStandby"); // 05. 摇晃 - this.testTubeShakeMotor.rotate(ActMotor.ROTATE_DIRECTION_CLOCKWISE); - try { - Thread.sleep(3000); - } catch (InterruptedException e) { - throw new RuntimeException(e); - } - this.testTubeShakeMotor.stop(); + // @TODO : 摇不得摇不得， 没限位， 要乱的 +// this.testTubeShakeMotor.rotate(ActMotor.ROTATE_DIRECTION_CLOCKWISE); +// try { +// Thread.sleep(3000); +// } catch (InterruptedException e) { +// throw new RuntimeException(e); +// } +// this.testTubeShakeMotor.stop(); this.testTubeMoveMotor.moveTo("shakeTestTubeMoveCapClip"); this.uncap("shaking"); diff --git a/src/main/java/com/dreamworks/boditech/mapper/RuntimeVariableMapper.java b/src/main/java/com/dreamworks/boditech/mapper/RuntimeVariableMapper.java new file mode 100644 index 0000000..092f128 --- /dev/null +++ b/src/main/java/com/dreamworks/boditech/mapper/RuntimeVariableMapper.java @@ -0,0 +1,12 @@ +package com.dreamworks.boditech.mapper; +import org.apache.ibatis.annotations.Mapper; +import org.apache.ibatis.annotations.Select; +import org.apache.ibatis.annotations.Update; +@Mapper +public interface RuntimeVariableMapper { + @Select("SELECT `value` FROM btd_runtime_variables WHERE name = #{variableName}") + String getVariableValue(String variableName); + + @Update("UPDATE btd_runtime_variables SET `value` = #{variableValue} WHERE name = #{variableName}") + void setVariableValue(String variableName, String variableValue); +} diff --git a/src/main/java/com/dreamworks/boditech/service/DeviceService.java b/src/main/java/com/dreamworks/boditech/service/DeviceService.java index 5733cce..8bf6e62 100644 --- a/src/main/java/com/dreamworks/boditech/service/DeviceService.java +++ b/src/main/java/com/dreamworks/boditech/service/DeviceService.java @@ -3,6 +3,7 @@ import com.dreamworks.boditech.driver.*; import com.dreamworks.boditech.driver.consumable.*; import com.dreamworks.boditech.driver.entity.*; import com.dreamworks.boditech.driver.task.*; +import com.dreamworks.boditech.driver.task.TaskStopReset; import com.dreamworks.boditech.entity.ParamTestEmergencyAppend; import com.dreamworks.boditech.entity.ParamTestRegularAppend; import com.dreamworks.boditech.entity.ParamTestRegularAppendTask; @@ -13,6 +14,8 @@ import java.util.*; public class DeviceService { @Resource public Device device; + @Resource + public RuntimeVariableService runtimeVariableService; // tasks private final List tasks = new ArrayList<>(); @@ -149,7 +152,7 @@ public class DeviceService { // reset to initial state public void reset() { - TaskReset task = new TaskReset(); + TaskStartReset task = new TaskStartReset(); Executor.executeTask(this.device, task); } @@ -159,6 +162,29 @@ public class DeviceService { this.taskExecutorThread = new Thread(this.taskExecutor); this.taskExecutorThread.setName("task-executor"); this.taskExecutorThread.start(); + + Boolean isDeviceAllModuleReset = this.runtimeVariableService.getBoolean("DeviceIsAllModuleReset"); + if ( !isDeviceAllModuleReset) { + throw new RuntimeException("设备未正常复位， 需要给个警告弹框，然后再执行错误复位"); + } + + this.runtimeVariableService.setBoolean("DeviceIsAllModuleReset", false); + TaskStartReset task = new TaskStartReset(); + task.mode = TaskStartReset.MODE_NORMAL; + Executor.executeTask(this.device, task); + } + + // stop + public void stop() { + TaskStopReset task = new TaskStopReset(); + Executor.executeTask(this.device, task); + this.runtimeVariableService.setBoolean("DeviceIsAllModuleReset", true); + this.taskExecutor.stop(); + try { + this.taskExecutorThread.join(); + } catch (InterruptedException e) { + throw new RuntimeException(e); + } } // emergency task append @@ -196,21 +222,4 @@ public class DeviceService { this.tasks.notifyAll(); } } - - - - - - - - - // stop - public void stop() { - this.taskExecutor.stop(); - try { - this.taskExecutorThread.join(); - } catch (InterruptedException e) { - throw new RuntimeException(e); - } - } } diff --git a/src/main/java/com/dreamworks/boditech/service/RuntimeVariableService.java b/src/main/java/com/dreamworks/boditech/service/RuntimeVariableService.java new file mode 100644 index 0000000..050b964 --- /dev/null +++ b/src/main/java/com/dreamworks/boditech/service/RuntimeVariableService.java @@ -0,0 +1,33 @@ +package com.dreamworks.boditech.service; +import com.dreamworks.boditech.mapper.RuntimeVariableMapper; +import jakarta.annotation.Resource; +import org.springframework.stereotype.Service; +@Service +public class RuntimeVariableService { + @Resource + private RuntimeVariableMapper runtimeVariableMapper; + + // get integer value + public Integer getInteger(String variableName) { + String value = this.runtimeVariableMapper.getVariableValue(variableName); + return Integer.parseInt(value); + } + + // set integer value + public void setInteger(String variableName, Integer variableValue) { + String value = variableValue.toString(); + this.runtimeVariableMapper.setVariableValue(variableName, value); + } + + // get boolean value + public Boolean getBoolean(String variableName) { + String value = this.runtimeVariableMapper.getVariableValue(variableName); + return "YES".equals(value); + } + + // set boolean value + public void setBoolean(String variableName, Boolean variableValue) { + String value = variableValue ? "YES" : "NO"; + this.runtimeVariableMapper.setVariableValue(variableName, value); + } +}