增加步骤：采样混合

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

@@ -13,6 +13,8 @@ public class Command {
     public static final Integer CMD_MOTOR_EASY_MOVE_BY = 0x0212;
     public static final Integer CMD_MOTOR_EASY_MOVE_TO = 0x0213;
     public static final Integer CMD_XYMOTOR_MOVE_TO = 0x0303;
+    public static final Integer CMD_PIPETTE_CTRL_INIT_DEVICE = 0x0501;
+    public static final Integer CMD_PIPETTE_CTRL_MOVE_TO_UL = 0x0503;
 
     // command meta data
     public static final Map<Integer,CommandMeta> cmdMetaMap = new HashMap<Integer,CommandMeta>();

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

@@ -5,6 +5,7 @@ import com.dreamworks.boditech.driver.consumable.CsmBufferTubeA;
 import com.dreamworks.boditech.driver.consumable.CsmBufferTubeB;
 import com.dreamworks.boditech.driver.consumable.CsmLargeBufferTube;
 import com.dreamworks.boditech.driver.consumable.CsmPipetteTip;
+import com.dreamworks.boditech.service.RuntimeOptionService;
 import com.dreamworks.boditech.utils.MyByteBuffer;
 import jakarta.annotation.PostConstruct;
 import jakarta.annotation.Resource;
@@ -28,6 +29,9 @@ public class Device {
     @Resource
     private ComSerialPort serialPort;
 
+    @Resource
+    private RuntimeOptionService runtimeOptionService;
+
     // actuators
     private final Map<Integer, Actuator> actuators = new HashMap<Integer, Actuator>();
     // pipette tips
@@ -55,6 +59,7 @@ public class Device {
         this.appendActuator(new ActMotor(ActuatorModule.TEST_TUBE_SHAKING_CLIP_MOTOR, this));
         this.appendActuator(new ActArmXY(ActuatorModule.ARM_XY, this));
         this.appendActuator(new ActMotor(ActuatorModule.ARM_Z_MOTOR, this));
+        this.appendActuator(new ActPipette(ActuatorModule.ARM_Z_PIPETTE, this));
     }
 
     // append actuator
@@ -122,7 +127,7 @@ public class Device {
     }
 
     // get pipette tip
-    public CsmPipetteTip getPipeTip() {
+    public CsmPipetteTip getPipetteTip() {
         if ( this.pipetteTips.isEmpty() ) {
             throw new RuntimeException("no pipette tip");
         }
@@ -157,8 +162,17 @@ public class Device {
         return tube;
     }
 
+    // get location by name
+    public Integer getLocationByName( String name ) {
+        String key = "device.location." + name;
+        Integer value = this.runtimeOptionService.getInteger(key);
+        return value;
+    }
+
     // call device command and wait for response
     public ByteBuffer call( Integer cmd, Integer mid, Object ... params ) {
+
+
         int length = 2 + 2 + 1 + 1 + 2;
         for ( Object param : params ) {
             if ( param instanceof Integer ) {

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

@@ -26,4 +26,14 @@ public class ActArmXY extends ActuatorBase {
         this.call(Command.CMD_XYMOTOR_MOVE_TO, x, y, velocity);
         this.waitForFinish();
     }
+
+    /**
+     * move to given position by name
+     * @param name name of position
+     */
+    public void moveTo(String name) {
+        Integer x = this.getDevice().getLocationByName(name + ".x");
+        Integer y = this.getDevice().getLocationByName(name + ".y");
+        this.moveTo(x, y);
+    }
 }

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

@@ -18,6 +18,12 @@ public class ActMotor extends ActuatorBase {
         this.waitForFinish();
     }
 
+    // move to given position by name
+    public void moveTo( String name ) {
+        Integer location = this.getDevice().getLocationByName(name);
+        this.moveTo(location);
+    }
+
     // move by given distance
     public void moveBy(int distance) {
         this.call(Command.CMD_MOTOR_EASY_MOVE_BY, distance);

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

@@ -0,0 +1,46 @@
+package com.dreamworks.boditech.driver.actuator;
+import com.dreamworks.boditech.driver.Command;
+import com.dreamworks.boditech.driver.Device;
+public class ActPipette extends ActuatorBase {
+    // indicate whether the pipette has tip
+    // @TODO : this should be false by default
+    private boolean hasTip = true;
+
+    // constructor
+    public ActPipette(Integer mid, Device device) {
+        super(mid, device);
+    }
+
+    // set whether the pipette has tip
+    public void setHasTip(boolean hasTip) {
+        this.hasTip = hasTip;
+    }
+
+    // get whether the pipette has tip
+    public boolean getHasTip() {
+        return this.hasTip;
+    }
+
+    // init device
+    public void initDevice() {
+        this.call(Command.CMD_PIPETTE_CTRL_INIT_DEVICE);
+        this.waitForFinish();
+    }
+
+    // move to given position
+    public void aspiration(int volume) {
+        this.call(Command.CMD_PIPETTE_CTRL_MOVE_TO_UL, volume);
+        this.waitForFinish();
+    }
+
+    // move to given position
+    public void dispense(int volume) {
+        this.call(Command.CMD_PIPETTE_CTRL_MOVE_TO_UL, volume);
+        this.waitForFinish();
+    }
+
+    // move to given position
+    public void dispense() {
+        this.dispense(0);
+    }
+}

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

@@ -2,6 +2,7 @@ package com.dreamworks.boditech.driver.actuator;
 public class ActuatorModule {
     public static Integer ARM_XY = 11;
     public static Integer ARM_Z_MOTOR = 81;
+    public static Integer ARM_Z_PIPETTE = 82;
     public static Integer TEST_TUBE_SHAKING_MOVE_MOTOR = 31;
     public static Integer TEST_TUBE_SHAKING_ROTATE_MOTOR = 32;
     public static Integer TEST_TUBE_SHAKING_CLIP_MOTOR = 33;

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

@@ -1,5 +1,5 @@
 package com.dreamworks.boditech.driver.consumable;
-public class CsmBufferTubeA {
+public class CsmBufferTubeA implements ReactionTube {
     // area index
     public Integer areaIndex;
     // position
@@ -8,10 +8,17 @@ public class CsmBufferTubeA {
     public String projectName = "demo";
 
     public Integer getLocationX() {
-        return 1000;
+        // @TODO: 需要根据areaIndex和position计算出x坐标
+        return 976;
     }
 
     public Integer getLocationY() {
-        return 1000;
+        // @TODO: 需要根据areaIndex和position计算出y坐标
+        return 1930;
+    }
+
+    // get location z
+    public Integer getLocationZ() {
+        return 800;
     }
 }

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

@@ -1,5 +1,5 @@
 package com.dreamworks.boditech.driver.consumable;
-public class CsmBufferTubeB {
+public class CsmBufferTubeB implements ReactionTube {
     // area index
     public Integer areaIndex;
     // position
@@ -14,4 +14,9 @@ public class CsmBufferTubeB {
     public Integer getLocationY() {
         return 0;
     }
+
+    // get location z
+    public Integer getLocationZ() {
+        return 0;
+    }
 }

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

@@ -15,6 +15,11 @@ public class CsmLargeBufferTube {
         return 0;
     }
 
+    // get location z
+    public Integer getLocationZ() {
+        return 0;
+    }
+
     // get if the tube is empty
     public boolean isEmpty() {
         return false;

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

@@ -6,10 +6,10 @@ public class CsmPipetteTip {
     public Integer position;
 
     public Integer getLocationX() {
-        return 500;
+        return 5089;
     }
 
     public Integer getLocationY() {
-        return 500;
+        return -7;
     }
 }

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

@@ -0,0 +1,17 @@
+package com.dreamworks.boditech.driver.consumable;
+public class CsmSampleTube {
+    // get location x
+    public Integer getLocationX() {
+        return 0;
+    }
+
+    // get location y
+    public Integer getLocationY() {
+        return 0;
+    }
+
+    // get location z
+    public Integer getLocationZ() {
+        return 1400;
+    }
+}

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

@@ -0,0 +1,11 @@
+package com.dreamworks.boditech.driver.consumable;
+public interface ReactionTube {
+    // get location x
+    public Integer getLocationX();
+
+    // get location y
+    public Integer getLocationY();
+
+    // get location z
+    public Integer getLocationZ();
+}

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

@@ -2,6 +2,9 @@ package com.dreamworks.boditech.driver.task;
 import com.dreamworks.boditech.driver.Task;
 import com.dreamworks.boditech.driver.TaskExecutor;
 import com.dreamworks.boditech.driver.TestStep;
+import com.dreamworks.boditech.driver.consumable.CsmBufferTubeA;
+import com.dreamworks.boditech.driver.consumable.CsmSampleTube;
+import com.dreamworks.boditech.driver.consumable.ReactionTube;
 import com.dreamworks.boditech.driver.task.step.Step;
 import com.dreamworks.boditech.driver.task.step.StepManager;
 
@@ -27,10 +30,39 @@ public class TaskTest implements Task {
     public List<TestStep> steps;
     // step index
     public Integer stepIndex;
+    // reaction tube
+    private ReactionTube reactionTube;
+    // sample tube
+    private CsmSampleTube sampleTube;
+
+    // set reaction tube
+    public void setReactionTube(ReactionTube reactionTube) {
+        this.reactionTube = reactionTube;
+    }
+
+    // get reaction tube
+    public ReactionTube getReactionTube() {
+        return this.reactionTube;
+    }
+
+    // set sample tube
+    public void setSampleTube(CsmSampleTube sampleTube) {
+        this.sampleTube = sampleTube;
+    }
+
+    // get sample tube
+    public CsmSampleTube getSampleTube() {
+        return this.sampleTube;
+    }
+
 
     @Override
     public void execute(TaskExecutor executor) {
-        List<Step> steps = StepManager.buildSteps("[{\"action\":\"puncture\",\"tubeType\":\"A\"}]");
+        // @TODO : use real sample tube
+        this.sampleTube = new CsmSampleTube();
+        this.reactionTube = new CsmBufferTubeA();
+
+        List<Step> steps = StepManager.buildSteps("[{\"action\":\"sampling\",\"sourceTubeType\":\"Sample\",\"amount\":\"100\"}]");
         for ( Step step : steps ) {
             step.execute(executor, this);
         }

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

@@ -17,6 +17,7 @@ public class StepManager {
         }
         StepManager.stepMap.put("shake", StepShake.class);
         StepManager.stepMap.put("puncture", StepPuncture.class);
+        StepManager.stepMap.put("sampling", StepSampling.class);
     }
 
     // build step by given name

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

@@ -25,7 +25,7 @@ public class StepPuncture extends StepBase {
         TaskTest taskTest = (TaskTest)task;
 
         // 01. 移动到TIP区域
-        CsmPipetteTip tip = device.getPipeTip();
+        CsmPipetteTip tip = device.getPipetteTip();
         armXY.moveTo(tip.getLocationX(), tip.getLocationY());
 
         // 02. 下降到TIP区域

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

@@ -0,0 +1,116 @@
+package com.dreamworks.boditech.driver.task.step;
+import com.dreamworks.boditech.driver.Device;
+import com.dreamworks.boditech.driver.Task;
+import com.dreamworks.boditech.driver.TaskExecutor;
+import com.dreamworks.boditech.driver.actuator.ActArmXY;
+import com.dreamworks.boditech.driver.actuator.ActMotor;
+import com.dreamworks.boditech.driver.actuator.ActPipette;
+import com.dreamworks.boditech.driver.actuator.ActuatorModule;
+import com.dreamworks.boditech.driver.consumable.*;
+import com.dreamworks.boditech.driver.task.TaskTest;
+import com.fasterxml.jackson.annotation.JsonProperty;
+public class StepSampling extends StepBase {
+    @JsonProperty("action")
+    public String action;
+
+    @JsonProperty("sourceTubeType")
+    public String sourceTubeType;
+
+    @JsonProperty("amount")
+    public String amount;
+
+    @JsonProperty("dropTip")
+    public String dropTip = "YES";
+
+    @JsonProperty("requireNewTip")
+    public String requireNewTip = "YES";
+
+    @Override
+    public void execute(TaskExecutor executor, Task task) {
+        Device device = executor.getDevice();
+        ActPipette pipette = (ActPipette)device.getActuator(ActuatorModule.ARM_Z_PIPETTE);
+        ActArmXY armXY = (ActArmXY)device.getActuator(ActuatorModule.ARM_XY);
+        ActMotor armZMotor = (ActMotor)device.getActuator(ActuatorModule.ARM_Z_MOTOR);
+        TaskTest taskTest = (TaskTest)task;
+
+        // 丢弃TIP
+        if ( this.requireNewTip.equals("YES") && pipette.getHasTip() ) {
+            armXY.moveTo("tipDiscardPrepareHole");
+            armZMotor.moveTo("tipDiscardDepth");
+            armXY.moveTo("tipDiscardDrop");
+            armZMotor.moveTo(0);
+            armXY.moveTo(0, 0);
+            pipette.setHasTip(false);
+        }
+
+        // get tip
+        if ( !pipette.getHasTip() ) {
+            CsmPipetteTip tip = device.getPipetteTip();
+            armXY.moveTo(tip.getLocationX(), tip.getLocationY());
+            armZMotor.moveTo("tipPickUpDepth");
+            armZMotor.moveTo(0);
+            pipette.setHasTip(true);
+        }
+
+        // 1. 获取样本
+        // 2. 移动到样本采集位置
+        Integer srcTubeLocationZ = 0;
+        if ( this.sourceTubeType.equals("LargeBufferTube") ) {
+            CsmLargeBufferTube tube = device.getLargeBufferTube(taskTest.projectName);
+            armXY.moveTo(tube.getLocationX(), tube.getLocationY());
+            srcTubeLocationZ = tube.getLocationZ();
+        } else if ( this.sourceTubeType.equals("BufferTubeA") ) {
+            CsmBufferTubeA tube = device.getBufferTubeA(taskTest.projectName);
+            armXY.moveTo(tube.getLocationX(), tube.getLocationY());
+            srcTubeLocationZ = tube.getLocationZ();
+        } else if ( this.sourceTubeType.equals("BufferTubeB") ) {
+            CsmBufferTubeB tube = device.getBufferTubeB(taskTest.projectName);
+            armXY.moveTo(tube.getLocationX(), tube.getLocationY());
+            srcTubeLocationZ = tube.getLocationZ();
+        } else if ( this.sourceTubeType.equals("Sample") ) {
+            armXY.moveTo("sampleTestTube");
+            srcTubeLocationZ = taskTest.getSampleTube().getLocationZ();
+        } else {
+            throw new RuntimeException("unknown source tube type " + this.sourceTubeType);
+        }
+
+        // 3. 下降到样本采集位置
+        armZMotor.moveTo(srcTubeLocationZ);
+
+        // 4. 吸入样本
+        pipette.aspiration(Integer.parseInt(this.amount));
+
+        // 5. 上升到准备位置
+        armZMotor.moveTo(0);
+
+        // 6. 移动到反应试管放置位置
+        ReactionTube reactionTube = taskTest.getReactionTube();
+        armXY.moveTo(reactionTube.getLocationX(), reactionTube.getLocationY());
+
+        // 7. 下降到反应试管放置位置
+        armZMotor.moveTo(reactionTube.getLocationZ());
+
+        // 8. 吐出样本
+        pipette.dispense();
+
+        // 9. 吞吐混合均匀
+        int mixAmount = Integer.parseInt(this.amount);
+        for ( int i = 0; i < 3; i++ ) {
+            pipette.aspiration(mixAmount);
+            pipette.dispense();
+        }
+
+        // 10. 上升到准备位置
+        armZMotor.moveTo(0);
+
+        // 丢弃TIP
+        if ( this.dropTip.equals("YES") ) {
+            armXY.moveTo("tipDiscardPrepareHole");
+            armZMotor.moveTo("tipDiscardDepth");
+            armXY.moveTo("tipDiscardDrop");
+            armZMotor.moveTo(0);
+            armXY.moveTo(0, 0);
+            pipette.setHasTip(false);
+        }
+    }
+}

src/main/java/com/dreamworks/boditech/mapper/OptionMapper.java

@@ -0,0 +1,8 @@
+package com.dreamworks.boditech.mapper;
+import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Select;
+@Mapper
+public interface OptionMapper {
+    @Select("SELECT `value` FROM bdt_options WHERE name=#{name} LIMIT 1")
+    String findByName(String name);
+}

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

@@ -0,0 +1,18 @@
+package com.dreamworks.boditech.service;
+import com.dreamworks.boditech.mapper.OptionMapper;
+import jakarta.annotation.Resource;
+import org.springframework.stereotype.Service;
+@Service
+public class RuntimeOptionService {
+    @Resource
+    private OptionMapper optionMapper;
+
+    // get integer value
+    public Integer getInteger(String name) {
+        String value = this.optionMapper.findByName(name);
+        if ( value == null ) {
+            throw new RuntimeException("option not found: " + name);
+        }
+        return Integer.parseInt(value);
+    }
+}