耗材不足时通知前台

src/main/java/com/dreamworks/boditech/controller/DeviceController.java

@@ -167,7 +167,20 @@ public class DeviceController extends BaseController {
             status = executor.getWorkingStatus();
             statusName = I18n.t("device.status." + status);
         }
-        return this.success(Map.of("status", status, "statusName", statusName));
+        return this.success(Map.of(
+            "status", status,
+            "statusName", statusName
+        ));
+    }
+
+    @ResponseBody
+    @PostMapping("/api/device/executor-status-get")
+    public ApiResponse executorStatusGet() {
+        Executor executor = this.deviceService.getTaskExecutor();
+        if ( null == executor ) {
+            return this.success(Map.of("status", 0));
+        }
+        return this.success(Map.of("status",executor.getStatus()));
     }
 
     @ResponseBody

src/main/java/com/dreamworks/boditech/driver/consumable/CsmBufferTubeManager.java

@@ -2,6 +2,9 @@ package com.dreamworks.boditech.driver.consumable;
 import com.dreamworks.boditech.driver.Device;
 import com.dreamworks.boditech.driver.entity.ParamBufferTubeUpdateByBox;
 import com.dreamworks.boditech.entity.Project;
+import com.dreamworks.boditech.utils.AppError;
+import com.dreamworks.boditech.utils.AppRuntimeException;
+
 import java.util.ArrayList;
 import java.util.List;
 import java.util.Objects;
@@ -82,7 +85,7 @@ public class CsmBufferTubeManager {
     // tube alloc by project name
     public CsmBufferTube tubeAllocByProject(Project project) {
         for ( CsmBufferTubeBox box : this.bufferTubeBoxes ) {
-            if ( !box.isProjectMatched(project) ) {
+            if ( 0 >= box.tubeAmount || !box.isProjectMatched(project) ) {
                 continue;
             }
             box.tubeAmount --;
@@ -92,7 +95,7 @@ public class CsmBufferTubeManager {
             tube.index = box.tubeAmount;
             return tube;
         }
-        throw new RuntimeException("no buffer tube available for project " + project.name);
+        throw new AppRuntimeException(AppError.TASK_BUFFER_TUBE_ALLOC_FAILED);
     }
 
     // get device

src/main/java/com/dreamworks/boditech/driver/consumable/CsmLargeBufferTubeManager.java

@@ -3,6 +3,9 @@ import com.dreamworks.boditech.driver.Device;
 import com.dreamworks.boditech.driver.entity.ParamBufferTubeUpdateByBox;
 import com.dreamworks.boditech.driver.entity.ParamLargeBufferTubeUpdate;
 import com.dreamworks.boditech.entity.Project;
+import com.dreamworks.boditech.utils.AppError;
+import com.dreamworks.boditech.utils.AppRuntimeException;
+
 import java.util.ArrayList;
 import java.util.List;
 import java.util.Objects;
@@ -39,6 +42,7 @@ public class CsmLargeBufferTubeManager {
         for ( int i=0; i<6; i++ ) {
             CsmLargeBufferTube tube = new CsmLargeBufferTube(this);
             tube.index = i;
+            tube.amount = 0;
             this.largeBufferTubes.add(tube);
         }
     }
@@ -91,54 +95,14 @@ public class CsmLargeBufferTubeManager {
         tube.amount = param.tubeAmount;
     }
 
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-
-    // get large buffer tube
-    public CsmLargeBufferTube getTubeByProjectName( String projectName ) {
-        CsmLargeBufferTube tube = null;
-        for ( CsmLargeBufferTube tmp : this.largeBufferTubes ) {
-//            if ( !tmp.projectName.equals(projectName) ) {
-//                continue ;
-//            }
-            if ( tmp.isEmpty() ) {
-                continue;
+    // large buffer tube update
+    public CsmLargeBufferTube allocByProject( Project project ) {
+        for ( CsmLargeBufferTube tube : this.largeBufferTubes ) {
+            if ( 0 >= tube.amount || !tube.isProjectMatched(project) ) {
+                continue ;
             }
-            tube = tmp;
-            break;
-        }
-        if ( null == tube ) {
-            throw new RuntimeException("no large buffer tube");
+            return tube;
         }
-        return tube;
+        throw new AppRuntimeException(AppError.TASK_LARGE_BUFFER_TUBE_ALLOC_FAILED);
     }
 }

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

@@ -31,6 +31,8 @@ public class Executor implements Runnable {
     public String workingStatus = "WAIT_FOR_TUBE_RACK";
     // incubator wait task
     private Task incubatorWaitTask = null;
+    // resource wait task
+    private Task resourceWaitTask = null;
 
     /**
      * execute single task on device
@@ -55,6 +57,8 @@ public class Executor implements Runnable {
     public void run() {
         LOG.info("task executor start");
         this.status = Executor.STATUS_RUNNING;
+        this.workingStatus = "EXECUTING";
+        this.device.websocketServerService.log("Task Executor Started");
 
         while (!Objects.equals(this.status, Executor.STATUS_STOP_REQUEST)) {
             Task task = this.findExecutableTask();
@@ -86,6 +90,7 @@ public class Executor implements Runnable {
         this.status = Executor.STATUS_STOPPED;
         this.workingStatus = "STOPPED";
         LOG.info("task executor stop");
+        this.device.websocketServerService.log("Task Executor Stopped");
     }
 
     /**
@@ -166,6 +171,8 @@ public class Executor implements Runnable {
     // stop executor
     public void stop() {
         LOG.info("task executor stop : start");
+        this.device.websocketServerService.log("Task Executor Stopping");
+
         for ( Task task : this.tasks ) {
             task.stop();
         }
@@ -181,6 +188,8 @@ public class Executor implements Runnable {
      */
     public void pause() {
         LOG.info("task executor pause : start");
+        this.device.websocketServerService.log("Task Executor Pausing");
+
         this.status = Executor.STATUS_PAUSE_REQUEST;
         synchronized (this.tasks) {
             this.tasks.notifyAll();
@@ -192,17 +201,28 @@ public class Executor implements Runnable {
                 throw new RuntimeException(e);
             }
         }
+
+        this.workingStatus = "PAUSED";
         LOG.info("task executor pause : end");
+        this.device.websocketServerService.log("Task Executor Paused");
     }
 
     // resume executor
     public void resume() {
         LOG.info("task executor resume : start");
+        this.device.websocketServerService.log("Task Executor Resuming");
+
+        if ( null != this.resourceWaitTask ) {
+            this.resourceWaitTask.setStatus(Task.STATUS_READY);
+            this.resourceWaitTask = null;
+        }
+
         this.status = Executor.STATUS_RUNNING;
         synchronized (this.tasks) {
             this.tasks.notifyAll();
         }
         LOG.info("task executor resume : end");
+        this.device.websocketServerService.log("Task Executor Resumed");
     }
 
     // append task
@@ -231,6 +251,7 @@ public class Executor implements Runnable {
     // wait for incubator slot
     public void waitForIncubatorSlot( Task task ) {
         LOG.info("task executor wait for incubator slot");
+        this.device.websocketServerService.log("Task Executor Waiting For Incubator Slot");
         this.status = Executor.STATUS_PAUSED;
         this.incubatorWaitTask = task;
     }
@@ -241,10 +262,19 @@ public class Executor implements Runnable {
             return ;
         }
         LOG.info("task executor incubator slot available");
+        this.device.websocketServerService.log("Task Executor Incubator Slot Available");
         this.status = Executor.STATUS_RUNNING;
         this.incubatorWaitTask.setStatus(Task.STATUS_READY);
         this.incubatorWaitTask = null;
     }
 
-//    public void waitForConsumable( Task task );
+    // wait for consumable resource
+    public void waitForConsumableResource( Task task, Exception e ) {
+        LOG.info("task executor wait for consumable resource");
+        this.device.websocketServerService.log("Task Executor Waiting For Consumable Resource");
+        this.workingStatus = "WAIT_FOR_CONSUMABLE_RESOURCE";
+        this.status = Executor.STATUS_PAUSED;
+        this.resourceWaitTask = task;
+        this.device.websocketServerService.emit("deviceWaitForConsumableResource", e);
+    }
 }

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

@@ -1,9 +1,6 @@
 package com.dreamworks.boditech.driver.task;
 import com.dreamworks.boditech.driver.Device;
-import com.dreamworks.boditech.driver.actuator.ActArmXY;
-import com.dreamworks.boditech.driver.actuator.ActCodeScanner;
-import com.dreamworks.boditech.driver.actuator.ActModuleTestCardBoxCase;
-import com.dreamworks.boditech.driver.actuator.ActuatorModule;
+import com.dreamworks.boditech.driver.actuator.*;
 import com.dreamworks.boditech.entity.Project;
 import com.dreamworks.boditech.utils.AppError;
 import com.dreamworks.boditech.utils.AppRuntimeException;
@@ -25,6 +22,9 @@ public class TaskLoad extends TaskBase {
         this.armXY = (ActArmXY)device.getActuator(ActuatorModule.ARM_XY);
         this.codeScanner = (ActCodeScanner)device.getActuator(ActuatorModule.ARM_Z_SCANNER);
 
+        ActMotor testCardBoxMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_CARD_BOX_MOTOR);
+        testCardBoxMotor.reset();
+
         try {
             this.testCardLoad(executor);
             this.bufferTubeLoad(executor);

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

@@ -5,6 +5,8 @@ import com.dreamworks.boditech.driver.actuator.*;
 import com.dreamworks.boditech.driver.entity.IncubatorSlot;
 import com.dreamworks.boditech.driver.entity.WsMessageEvent;
 import com.dreamworks.boditech.service.AccountService;
+import com.dreamworks.boditech.utils.AppError;
+import com.dreamworks.boditech.utils.AppRuntimeException;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 
@@ -18,6 +20,8 @@ public class TaskStartReset extends TaskBase {
     public static final Integer MODE_ERROR = 1;
     // logger
     private static final Logger LOG = LoggerFactory.getLogger(TaskStartReset.class);
+    // is executing
+    private static Boolean isExecuting = false;
     // reset mode
     public Integer mode = MODE_NORMAL;
     // device instance
@@ -31,8 +35,12 @@ public class TaskStartReset extends TaskBase {
 
     @Override
     public void execute(Executor executor) {
-        long startTime = System.currentTimeMillis();
+        if ( TaskStartReset.isExecuting ) {
+            throw new AppRuntimeException(AppError.DEVICE_START_RESET_EXECUTING);
+        }
 
+        TaskStartReset.isExecuting = true;
+        long startTime = System.currentTimeMillis();
         this.device = executor.getDevice();
         this.analysisPushMotor = (ActMotor)device.getActuator(ActuatorModule.ANALYSIS_PUSH_MOTOR);
         this.analysisScanMotor = (ActMotor)device.getActuator(ActuatorModule.ANALYSIS_SCAN_MOTOR);
@@ -117,6 +125,7 @@ public class TaskStartReset extends TaskBase {
         this.device.testService.cancelAllTasks();
 
         this.device.setIsReady(true);
+        TaskStartReset.isExecuting = false;
         LOG.info("[reset] task finished, cost {}s", (System.currentTimeMillis() - startTime)/1000.00);
     }
 

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

@@ -10,6 +10,7 @@ import com.dreamworks.boditech.driver.task.step.StepManager;
 import com.dreamworks.boditech.entity.Project;
 import com.dreamworks.boditech.entity.MdbTest;
 import com.dreamworks.boditech.entity.TestStepLogEntry;
+import com.dreamworks.boditech.utils.AppRuntimeException;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 
@@ -114,10 +115,6 @@ abstract public class TaskTestBase extends TaskBase implements TaskTest  {
             return true;
         }
 
-        if ( !this.waitForResource() ) {
-            return false;
-        }
-
         Device device = this.taskExecutor.getDevice();
         if ( null == this.projectId ) {
             throw new RuntimeException("project id must be set before execute");
@@ -126,16 +123,32 @@ abstract public class TaskTestBase extends TaskBase implements TaskTest  {
         this.steps = StepManager.buildSteps(this.project.steps);
         this.stepIndex = 0;
         this.postSteps = new ArrayList<>();
-        this.reactionTube = device.bufferTubes.tubeAllocByProject(this.project);
 
         this.test = new MdbTest();
         this.beforeTaskExecute(this.test);
+
+        if ( !this.taskResourceAlloc() ) {
+            return false;
+        }
+
         device.testService.insert(this.test);
         return true;
     }
 
     // wait for resource
-    private Boolean waitForResource() {
+    private Boolean taskResourceAlloc() {
+        // 小缓冲液
+        try {
+            this.reactionTube = device.bufferTubes.tubeAllocByProject(this.project);
+        } catch ( AppRuntimeException e ) {
+            this.steps.clear();
+            this.steps = null;
+            this.taskExecutor.waitForConsumableResource(this, e);
+            this.setStatus(Task.STATUS_WAITING);
+            return false;
+        }
+
+        // 孵育盘卡位
         ActIncubator incubator = (ActIncubator) this.device.getActuator(ActuatorModule.INCUBATOR_MOTOR);
         if ( !incubator.hasFreeSlot() ) {
             this.taskExecutor.waitForIncubatorSlot(this);
@@ -143,6 +156,18 @@ abstract public class TaskTestBase extends TaskBase implements TaskTest  {
             return false;
         }
 
+        // 其他资源
+        for ( Step step : this.steps ) {
+            try {
+                step.resourcePreAlloc(this.taskExecutor, this);
+            } catch ( Exception e ) {
+                this.steps.clear();
+                this.steps = null;
+                this.taskExecutor.waitForConsumableResource(this, e);
+                this.setStatus(Task.STATUS_WAITING);
+                return false;
+            }
+        }
         return true;
     }
 
@@ -157,7 +182,11 @@ abstract public class TaskTestBase extends TaskBase implements TaskTest  {
         TestStepLogEntry logEntry = new TestStepLogEntry();
         logEntry.stepName = step.getActionName();
         logEntry.stepOptions = step.getStepNode().toString();
-        LOG.info("step start: ({}) => {}", logEntry.stepName, logEntry.stepOptions);
+
+        String logMsg = String.format("[task #%d] step (%s) : %s", this.test.id, logEntry.stepName, logEntry.stepOptions);
+        LOG.info(logMsg);
+        this.device.websocketServerService.log(logMsg);
+
         this.device.testService.logStepStart(this.test, logEntry);
         step.execute(this.taskExecutor, this);
         this.device.testService.logStepEnd(logEntry);

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

@@ -19,4 +19,6 @@ public interface Step {
     JsonNode getStepNode();
 
     void stop();
+
+    void resourcePreAlloc(Executor executor, Task task);
 }

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

@@ -1,4 +1,6 @@
 package com.dreamworks.boditech.driver.task.step;
+import com.dreamworks.boditech.driver.task.Executor;
+import com.dreamworks.boditech.driver.task.Task;
 import com.fasterxml.jackson.annotation.JsonProperty;
 import com.fasterxml.jackson.databind.JsonNode;
 
@@ -46,4 +48,9 @@ abstract public class StepBase implements Step {
     public void stop() {
         // nothing to do here as default, override this method if needed
     }
+
+    // check resource requirement
+    public void resourcePreAlloc(Executor executor, Task task) {
+        // nothing to do here as default, override this method if needed
+    }
 }

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

@@ -30,6 +30,21 @@ public class StepPretreatment extends StepBase {
     // has uncapped
     private boolean hasUncapped = false;
 
+    // pipette tip to mix sample
+    private CsmPipetteTip pipetteTip;
+
+    @Override
+    public void resourcePreAlloc(Executor executor, Task task) {
+        super.resourcePreAlloc(executor,task);
+
+        TaskTest taskTest = (TaskTest)task;
+        CsmSampleTube tube = taskTest.getSampleTube();
+        MdbTestTube testTube = executor.getDevice().testService.testTubeFindByKey(tube.type);
+        if ( this.shaking && Objects.equals(MdbTestTube.MIX_TYPE_PIPETTE, testTube.mixType) ) {
+            this.pipetteTip = executor.getDevice().pipetteTips.tipAlloc();
+        }
+    }
+
     @Override
     public void execute(Executor executor, Task task) {
         this.taskTest = (TaskTest)task;
@@ -67,8 +82,7 @@ public class StepPretreatment extends StepBase {
         ActMotor armZMotor = (ActMotor)device.getActuator(ActuatorModule.ARM_Z_MOTOR);
         CsmSampleTube sampleTube = this.taskTest.getSampleTube();
 
-        CsmPipetteTip tip = device.pipetteTips.tipAlloc();
-        pipette.useTip(tip);
+        pipette.useTip(this.pipetteTip);
         armXY.moveTo(sampleTube.getLocationX(), sampleTube.getLocationY());
         armZMotor.moveTo(sampleTube.getLocationZ());
 

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

@@ -14,6 +14,15 @@ public class StepPuncture extends StepBase {
     @JsonProperty("tubeType")
     public String tubeType;
 
+    // pipette tip to puncture
+    private CsmPipetteTip pipetteTip;
+
+    @Override
+    public void resourcePreAlloc(Executor executor, Task task) {
+        super.resourcePreAlloc(executor, task);
+        this.pipetteTip = executor.getDevice().pipetteTips.tipAlloc();
+    }
+
     @Override
     public void execute(Executor executor, Task task) {
         Device device = executor.getDevice();
@@ -23,8 +32,7 @@ public class StepPuncture extends StepBase {
         TaskTest taskTest = (TaskTest)task;
 
         // 01. 拾取TIP头
-        CsmPipetteTip tip = device.pipetteTips.tipAlloc();
-        pipette.useTip(tip);
+        pipette.useTip(this.pipetteTip);
 
         // 04. 移动到穿刺区域
         CsmBufferTube bufferTube = taskTest.getReactionTube();
@@ -35,5 +43,6 @@ public class StepPuncture extends StepBase {
 
         // 06. 上升到准备区域
         armZMotor.moveTo(0);
+        pipette.dropTip();
     }
 }

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

@@ -28,6 +28,27 @@ public class StepSampling extends StepBase {
     // pipette
     private ActPipette pipette;
 
+    // resource : pipette tip
+    private CsmPipetteTip pipetteTip;
+    // resource : test card
+    private CsmTestCard testcard;
+    // resource : large buffer tube
+    private CsmLargeBufferTube largeBufferTube;
+
+    @Override
+    public void resourcePreAlloc(Executor executor, Task task) {
+        super.resourcePreAlloc(executor, task);
+
+        TaskTest taskTest = (TaskTest)task;
+        this.pipetteTip = executor.getDevice().pipetteTips.tipAlloc();
+        if ( this.submit ) {
+            this.testcard = executor.getDevice().testCards.cardAllocByProject(taskTest.getProject());
+        }
+        if ( "LargeBufferTube".equals(this.source) ) {
+            this.largeBufferTube = executor.getDevice().largeBufferTubes.allocByProject(taskTest.getProject());
+        }
+    }
+
     @Override
     public void execute(Executor executor, Task task) {
         Device device = executor.getDevice();
@@ -41,11 +62,7 @@ public class StepSampling extends StepBase {
             this.setupTestcard(device);
         }
 
-        // 如果没有TIP头，则拾取TIP头
-        if ( !this.pipette.getHasTip() ) {
-            CsmPipetteTip tip = device.pipetteTips.tipAlloc();
-            this.pipette.useTip(tip);
-        }
+        this.pipette.useTip(this.pipetteTip);
 
         // 1. 获取样本
         if ( "Sample".equals(this.source) ) {
@@ -95,8 +112,7 @@ public class StepSampling extends StepBase {
         incubator.lockSlot(testCardSlot.getIndex());
 
         // 获取测试板
-        CsmTestCard testcard = device.testCards.cardAllocByProject(this.taskTest.getProject());
-        testCardBoxMotor.moveTo(testcard.getLocation());
+        testCardBoxMotor.moveTo(this.testcard.getLocation());
         testCardFeedMotor.moveTo("testCardPushDepth");
         testCardFeedMotor.moveTo("testCardPushStandby");
 
@@ -117,8 +133,7 @@ public class StepSampling extends StepBase {
 
     // get reagent from large buffer tube
     private void getReagentFromLargeBufferTube( Device device ) {
-        CsmLargeBufferTube tube = device.largeBufferTubes.getTubeByProjectName(this.taskTest.getProjectName());
-
+        CsmLargeBufferTube tube = this.largeBufferTube;
         this.armXY.moveTo(tube.getLocationX(), tube.getLocationY());
         this.armZMotor.moveTo(tube.getLocationZ());
         this.pipette.aspiration(this.amount);

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

@@ -1,4 +1,5 @@
 package com.dreamworks.boditech.service;
+import com.dreamworks.boditech.utils.MyCommon;
 import com.dreamworks.boditech.utils.MyWsServerConnection;
 import com.fasterxml.jackson.core.JsonProcessingException;
 import com.fasterxml.jackson.databind.ObjectMapper;
@@ -6,6 +7,8 @@ import jakarta.annotation.PostConstruct;
 import org.springframework.stereotype.Service;
 import java.util.ArrayList;
 import java.util.List;
+import java.util.Map;
+
 @Service
 public class WebsocketServerService {
     // connections
@@ -38,4 +41,25 @@ public class WebsocketServerService {
         }
         this.send(json);
     }
+
+    // emit event
+    public void emit( String name, Object data ) {
+        Map<String,Object> event = Map.of(
+            "type", "event",
+            "name", name,
+            "data", data
+        );
+        this.send(event);
+    }
+
+    // emit event
+    public void emit( String name ) {
+        this.emit(name, false);
+    }
+
+    // log to frontend
+    public void log( String message, Object ... params) {
+        Map<String,Object> event = Map.of("type", "log", "data", message);
+        this.send(event);
+    }
 }

src/main/java/com/dreamworks/boditech/utils/AppError.java

@@ -16,6 +16,10 @@ public enum AppError {
     INCUBATOR_NO_FREE_SLOT,
     TEST_TUBE_RACK_TYPE_NOT_SUPPORTED,
 
+    // task
+    TASK_BUFFER_TUBE_ALLOC_FAILED,
+    TASK_LARGE_BUFFER_TUBE_ALLOC_FAILED,
+
     // device
     DEVICE_BUSY,
     DEVICE_ALREADY_STARTED,
@@ -24,4 +28,5 @@ public enum AppError {
     DEVICE_NOT_STARTED,
     DEVICE_STOP_FAILED,
     DEVICE_EXECUTING_REQUIRED,
+    DEVICE_START_RESET_EXECUTING,
 }