增加步骤盖上试管帽

src/main/java/com/dreamworks/boditech/BoditechApplication.java

@@ -1,6 +1,5 @@
 package com.dreamworks.boditech;
-import com.dreamworks.boditech.utils.BoditechDeviceClient;
-import org.java_websocket.client.WebSocketClient;
+import com.dreamworks.boditech.driver.connection.ComWebsocketClient;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.boot.SpringApplication;
 import org.springframework.boot.autoconfigure.SpringBootApplication;
@@ -11,22 +10,11 @@ import java.net.URISyntaxException;
 
 @SpringBootApplication
 public class BoditechApplication {
-    @Value("${app.device.wsurl}")
-    private String deviceWsUrl;
-
     public static void main(String[] args) {
         SpringApplication.run(BoditechApplication.class, args);
     }
 
     @Bean
-    public BoditechDeviceClient boditechDeviceClient() throws URISyntaxException {
-        URI uri = new URI(this.deviceWsUrl);
-        BoditechDeviceClient client = new BoditechDeviceClient(uri);
-        client.connect();
-        return client;
-    }
-
-    @Bean
     public ServerEndpointExporter websocketServerEndpointExporter() {
         return new ServerEndpointExporter();
     }

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

@@ -1,6 +1,8 @@
 package com.dreamworks.boditech.driver;
 import com.dreamworks.boditech.driver.actuator.*;
+import com.dreamworks.boditech.driver.connection.ClientRequest;
 import com.dreamworks.boditech.driver.connection.ComSerialPort;
+import com.dreamworks.boditech.driver.connection.ComWebsocket;
 import com.dreamworks.boditech.driver.consumable.*;
 import com.dreamworks.boditech.driver.entity.DeviceLogEntry;
 import com.dreamworks.boditech.mapper.DeviceLogMapper;
@@ -26,12 +28,15 @@ import java.util.Map;
 @Component
 public class Device {
     private static final Logger LOG = LoggerFactory.getLogger(Device.class);
-
+    @Value("${app.device.connectionType}")
+    private String connectionType;
     @Value("${app.device.debug}")
     private Boolean debug;
     @Resource
     private ComSerialPort serialPort;
     @Resource
+    private ComWebsocket websocket;
+    @Resource
     private RuntimeOptionService runtimeOptionService;
     @Resource
     public ProjectService projectService;
@@ -115,16 +120,18 @@ public class Device {
         int mainCmdId = (cmd >> 8) & 0xFFFF;
         int moduleId = mid;
 
-        ByteBuffer request = ByteBuffer.allocate(length);
-        request.order(ByteOrder.LITTLE_ENDIAN);
-        request.putShort(this.messageIndex);
-        request.putShort((short)mainCmdId); // main cmd id
-        request.put((byte)subCmdId); // sub cmd id
-        request.put((byte)0); // directive type
-        request.putShort((short)moduleId); // mid
+        ClientRequest request = new ClientRequest();
+        request.id = this.messageIndex;
+        request.parameter = ByteBuffer.allocate(length);
+        request.parameter.order(ByteOrder.LITTLE_ENDIAN);
+        request.parameter.putShort(this.messageIndex);
+        request.parameter.putShort((short)mainCmdId); // main cmd id
+        request.parameter.put((byte)subCmdId); // sub cmd id
+        request.parameter.put((byte)0); // directive type
+        request.parameter.putShort((short)moduleId); // mid
         for ( Object param : params ) {
             if ( param instanceof Integer ) {
-                request.putInt((Integer)param);
+                request.parameter.putInt((Integer)param);
             }
         }
 
@@ -133,10 +140,11 @@ public class Device {
             this.messageIndex = 0;
         }
 
-        if ( this.debug ) {
-            return this.serialPortCall(request);
+        if ("SerialPort".equals(this.connectionType)) {
+            return this.serialPortCall(request.parameter);
         }
-        return this.prodCall(cmd, mid, params);
+
+        return this.websocket.call(request);
     }
 
     // call device command in debug mode
@@ -152,11 +160,6 @@ public class Device {
         return response;
     }
 
-    private ByteBuffer prodCall(Integer cmd, Integer mid, Object[] params) {
-        System.out.println("Device prodCall");
-        return null;
-    }
-
     // log device message
     public void logMessage( Integer direction, ByteBuffer message ) {
         String messageHex = MyByteBuffer.toHex(message);

src/main/java/com/dreamworks/boditech/driver/connection/ClientRequest.java

@@ -0,0 +1,12 @@
+package com.dreamworks.boditech.driver.connection;
+import java.nio.ByteBuffer;
+public class ClientRequest {
+    // message id
+    public short id;
+    // parameter
+    public ByteBuffer parameter;
+    // response
+    public ByteBuffer response;
+    // error code
+    public Integer errorCode = 0;
+}

src/main/java/com/dreamworks/boditech/driver/connection/ComWebsocket.java

@@ -0,0 +1,47 @@
+package com.dreamworks.boditech.driver.connection;
+import jakarta.annotation.PostConstruct;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.stereotype.Component;
+import java.net.URI;
+import java.net.URISyntaxException;
+import java.nio.ByteBuffer;
+
+@Component
+public class ComWebsocket {
+    @Value("${app.device.connectionType}")
+    private String connectionType;
+    @Value("${app.device.wsuri}")
+    private String deviceWsUrl;
+    // websocket client
+    private ComWebsocketClient client;
+
+    @PostConstruct
+    public void init() {
+        if ( !this.connectionType.equals("WebSocket") ) {
+            return ;
+        }
+        this.open();
+    }
+
+    // open websocket connection
+    public void open() {
+        URI uri = null;
+        try {
+            uri = new URI(this.deviceWsUrl);
+        } catch (URISyntaxException e) {
+            throw new RuntimeException(e);
+        }
+
+        this.client = new ComWebsocketClient(uri);
+        this.client.connect();
+    }
+
+    // call device method and wait for response
+    public ByteBuffer call(ClientRequest request ) {
+        this.client.call(request);
+        if ( 0 != request.errorCode ) {
+            throw new RuntimeException("device error : " + request.errorCode);
+        }
+        return request.response;
+    }
+}

src/main/java/com/dreamworks/boditech/driver/connection/ComWebsocketClient.java

@@ -0,0 +1,124 @@
+package com.dreamworks.boditech.driver.connection;
+import com.dreamworks.boditech.utils.MyByteBuffer;
+import org.java_websocket.client.WebSocketClient;
+import org.java_websocket.handshake.ServerHandshake;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import java.net.URI;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Objects;
+public class ComWebsocketClient extends WebSocketClient {
+    // message type : ack
+    private static final byte MESSAGE_TYPE_ACK = 0x01;
+    // message type : error ack
+    private static final byte MESSAGE_TYPE_ERROR_ACK = 0x02;
+    // message type : event
+    private static final byte MESSAGE_TYPE_EVENT = 0x03;
+    // logger
+    private static final Logger LOG = LoggerFactory.getLogger(ComWebsocketClient.class);
+    // request list
+    private final List<ClientRequest> requestList = new ArrayList<>();
+
+    // constructor
+    public ComWebsocketClient(URI uri ) {
+        super(uri);
+    }
+
+    /**
+     * call device method and wait for response
+     * @param request request
+     */
+    public void call( ClientRequest request ) {
+        this.requestList.add(request);
+        int index = this.requestList.indexOf(request);
+        ClientRequest requestItem = this.requestList.get(index);
+        synchronized (requestItem) {
+            String cmd = MyByteBuffer.toHex(request.parameter);
+            cmd = cmd.replace(" ","");
+            LOG.info("device => {}", cmd);
+            this.send(cmd);
+            try {
+                requestItem.wait();
+            } catch (InterruptedException e) {
+                throw new RuntimeException(e);
+            }
+        }
+    }
+
+    /**
+     * event handler for receiving text message from device
+     * @param text message from device
+     */
+    @Override
+    public void onMessage(String text) {
+        LOG.info("device <= {}", text);
+        ByteBuffer message = MyByteBuffer.fromHex(text);
+        message.order(ByteOrder.LITTLE_ENDIAN);
+        byte messageType = message.get(5);
+        if ( ComWebsocketClient.MESSAGE_TYPE_ACK == messageType ) {
+            this.onMessageHandleAck(message);
+        } else if ( ComWebsocketClient.MESSAGE_TYPE_ERROR_ACK == messageType ) {
+            this.onMessageHandleErrorAck(message);
+        } else if ( ComWebsocketClient.MESSAGE_TYPE_EVENT == messageType ) {
+            this.onMessageHandleEvent(message);
+        } else {
+            throw new RuntimeException("unknown message type");
+        }
+    }
+
+    // handle ack message
+    private void onMessageHandleAck(ByteBuffer message) {
+        ClientRequest request = this.getRequestMessage(message);
+        synchronized (Objects.requireNonNull(request)) {
+            request.response = message;
+            request.notify();
+        }
+    }
+
+    // handle error ack message
+    private void onMessageHandleErrorAck(ByteBuffer message) {
+        ClientRequest request = this.getRequestMessage(message);
+        synchronized (Objects.requireNonNull(request)) {
+            request.response = null;
+            request.errorCode = message.getInt(8);
+            request.notify();
+        }
+    }
+
+    // get request message
+    private ClientRequest getRequestMessage( ByteBuffer message ) {
+        short messageId = message.getShort(0);
+        for ( ClientRequest requestItem : this.requestList ) {
+            if ( requestItem.id == messageId ) {
+                return requestItem;
+            }
+        }
+        return null;
+    }
+
+    // handle event message
+    private void onMessageHandleEvent( ByteBuffer message ) {
+        // @TODO : handle event
+        throw new RuntimeException("not implemented");
+    }
+
+    @Override
+    public void onOpen(ServerHandshake serverHandshake) {
+        LOG.info("device connected");
+    }
+
+    @Override
+    public void onClose(int i, String s, boolean b) {
+        LOG.info("close");
+        throw new RuntimeException("device connection closed");
+    }
+
+    @Override
+    public void onError(Exception e) {
+        LOG.error("error", e);
+        throw new RuntimeException(e);
+    }
+}

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

@@ -2,9 +2,15 @@ package com.dreamworks.boditech.driver.consumable;
 
 import com.dreamworks.boditech.driver.Device;
 
+import java.util.Objects;
+
 public class CsmSampleTube {
     // tube type : Epp 0.5
     public static final String TYPE_EPP05 = "Epp0.5";
+    // tube type : blood tube 3ml
+    public static final String TYPE_BLOOD_TUBE_3ML = "BloodTube3ml";
+    // tube type : blood tube 5ml
+    public static final String TYPE_BLOOD_TUBE_5ML = "BloodTube5ml";
     // task type : regular
     public static final String TASK_TYPE_REGULAR = "regular";
     // task type : emergency
@@ -21,6 +27,7 @@ public class CsmSampleTube {
     // device
     private final Device device;
 
+    // constructor
     public CsmSampleTube(Device device) {
         this.device = device;
     }
@@ -35,14 +42,23 @@ public class CsmSampleTube {
         return this.locationY;
     }
 
+    // check if tube has cap
+    public Boolean hasCap() {
+        return Objects.equals(this.type, CsmSampleTube.TYPE_BLOOD_TUBE_3ML)
+        || Objects.equals(this.type, CsmSampleTube.TYPE_BLOOD_TUBE_5ML);
+    }
+
     // get location z for pipette to start aspiration.
     public Integer getLocationZ() {
         if ( CsmSampleTube.TASK_TYPE_EMERGENCY.equals(this.taskType) ) {
             return this.device.getLocationByName("emergencyTubeDepth");
+        } else if ( CsmSampleTube.TYPE_BLOOD_TUBE_5ML.equals(this.type) ) {
+            return this.device.getLocationByName("regularBloodTube5mlDepth");
+        } else if ( CsmSampleTube.TYPE_BLOOD_TUBE_3ML.equals(this.type) ) {
+            return this.device.getLocationByName("regularBloodTube3mlDepth");
+        } else {
+            throw new RuntimeException("unknown tube type " + this.type);
         }
-
-        // @TODO : get location z for regular tube
-        return 1400;
     }
 
     public Boolean isShakable() {

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

@@ -0,0 +1,28 @@
+package com.dreamworks.boditech.driver.task.step;
+import com.dreamworks.boditech.driver.Device;
+import com.dreamworks.boditech.driver.actuator.ActMotor;
+import com.dreamworks.boditech.driver.actuator.ActuatorModule;
+import com.dreamworks.boditech.driver.task.Executor;
+import com.dreamworks.boditech.driver.task.Task;
+import com.dreamworks.boditech.driver.task.TaskTest;
+public class StepCapTube extends StepBase {
+    @Override
+    public void execute(Executor executor, Task task) {
+        TaskTest taskTest = (TaskTest)task;
+        if ( !taskTest.getSampleTube().hasCap() ) {
+            return ;
+        }
+
+        Device device = executor.getDevice();
+        ActMotor testTubeMoveMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_MOVE_MOTOR);
+        ActMotor testTubeCapClipMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_CAP_CLIP_MOTOR);
+        ActMotor testTubeClipMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_CLIP_MOTOR);
+
+        testTubeMoveMotor.moveTo("shakeTestTubeMoveCapClip");
+        testTubeCapClipMotor.moveTo("shakeTestTubeCapClipOpen");
+        testTubeMoveMotor.moveTo("shakeTestTubeMoveStandby");
+        testTubeCapClipMotor.moveTo("shakeTestTubeCapClipClose");
+        testTubeClipMotor.rotate(ActMotor.ROTATE_DIRECTION_COUNTER_CLOCKWISE);
+        testTubeClipMotor.stop();
+    }
+}

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

@@ -20,6 +20,7 @@ public class StepManager {
         StepManager.stepMap.put("sampling", StepSampling.class);
         StepManager.stepMap.put("analysis", StepAnalysis.class);
         StepManager.stepMap.put("wait", StepWait.class);
+        StepManager.stepMap.put("cap-tube", StepCapTube.class);
     }
 
     // build step by given name

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

@@ -40,8 +40,6 @@ public class StepPretreatment extends StepBase {
         if ( this.uncap ) {
             this.uncap("none");
         }
-
-        this.taskTest.postStepPush(this);
     }
 
     // shake

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

@@ -1,63 +0,0 @@
-package com.dreamworks.boditech.utils;
-import org.java_websocket.client.WebSocketClient;
-import org.java_websocket.handshake.ServerHandshake;
-import org.slf4j.Logger;
-import org.slf4j.LoggerFactory;
-import java.net.URI;
-import java.nio.ByteBuffer;
-public class BoditechDeviceClient extends WebSocketClient {
-    public interface OnMessageCallback {
-        void onCallback(ByteBuffer buffer);
-    }
-
-    private static final Logger LOG = LoggerFactory.getLogger(BoditechDeviceClient.class);
-
-    private OnMessageCallback onMessageCallback;
-
-    public BoditechDeviceClient(URI uri ) {
-        super(uri);
-    }
-
-    public void setOnMessageCallback( OnMessageCallback callback ) {
-        this.onMessageCallback = callback;
-    }
-
-    @Override
-    public void onOpen(ServerHandshake serverHandshake) {
-        LOG.info("device connected");
-    }
-
-    /**
-     * event handler for receiving binary message from device
-     * @param buffer message from device
-     */
-    @Override
-    public void onMessage(ByteBuffer buffer) {
-        LOG.info("on message (binary) ：{}", buffer);
-        if ( this.onMessageCallback != null ) {
-            this.onMessageCallback.onCallback(buffer);
-        }
-    }
-
-    /**
-     * event handler for receiving text message from device
-     * @param text message from device
-     */
-    @Override
-    public void onMessage(String text) {
-        LOG.info("on message (text) : {}", text);
-        if ( this.onMessageCallback != null ) {
-            this.onMessageCallback.onCallback(ByteBuffer.wrap(text.getBytes()));
-        }
-    }
-
-    @Override
-    public void onClose(int i, String s, boolean b) {
-        LOG.info("close");
-    }
-
-    @Override
-    public void onError(Exception e) {
-        LOG.error("error", e);
-    }
-}

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

@@ -9,4 +9,18 @@ public class MyByteBuffer {
         }
         return sb.toString();
     }
+
+    // convert hex string to byte buffer
+    public static ByteBuffer fromHex ( String hex ) {
+        // remove space
+        hex = hex.replaceAll(" ", "");
+        // convert hex string to byte array
+        byte[] bytes = new byte[hex.length() / 2];
+        for (int i = 0; i < hex.length(); i += 2) {
+            String sub = hex.substring(i, i + 2);
+            bytes[i / 2] = (byte) Integer.parseInt(sub, 16);
+        }
+        // convert byte array to byte buffer
+        return ByteBuffer.wrap(bytes);
+    }
 }

src/main/resources/application.yml

@@ -8,7 +8,7 @@ spring:
 app:
   device:
     debug : true
+    connectionType : WebSocket # SerialPort, WebSocket
     path : COM3
     baudrate : 921600
-    # wsurl : wss://ws.postman-echo.com/raw
-    wsurl : ws://127.0.0.1:8899/device
+    wsuri : ws://192.168.8.10:19005