#24 液面位置检测

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

@@ -1,5 +1,10 @@
 package com.dreamworks.boditech.controller;
 import com.dreamworks.boditech.controller.entity.ApiResponse;
+import com.dreamworks.boditech.driver.actuator.ActArmXY;
+import com.dreamworks.boditech.driver.actuator.ActArmZMotor;
+import com.dreamworks.boditech.driver.actuator.ActPipette;
+import com.dreamworks.boditech.driver.actuator.ActuatorModule;
+import com.dreamworks.boditech.service.DeviceService;
 import com.dreamworks.boditech.service.WebsocketServerService;
 import jakarta.annotation.Resource;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -11,19 +16,17 @@ import java.util.Map;
 @Controller
 public class TmpController extends BaseController {
     @Resource
-    private WebsocketServerService wsServer;
+    private DeviceService deviceService;
 
     @ResponseBody
-    @PostMapping("/api/tmp/trigger-event")
-    public ApiResponse triggerEvent(@RequestBody Map<String,Object> params ) {
-        this.wsServer.send("{\"type\":\"event\",\"name\":\"" + params.get("name") + "\"}");
-        return this.success();
-    }
+    @PostMapping("/api/tmp/move-to-liquid-level")
+    public ApiResponse moveToLiquidLevel(@RequestBody Map<String,Object> params ) {
+        String name = (String)params.get("name");
+        ActArmXY armXY = (ActArmXY)this.deviceService.device.getActuator(ActuatorModule.ARM_XY);
+        armXY.moveTo("largeBufferTubeAspirationStart");
 
-    @ResponseBody
-    @PostMapping("/api/tmp/trigger-error")
-    public ApiResponse triggerError(@RequestBody Map<String,Object> params ) {
-        this.wsServer.send("{\"type\":\"error\",\"name\":\"" + params.get("name") + "\",\"message\":\"DEMO_ERROR_MESSAGE\"}");
+        ActArmZMotor armZ = (ActArmZMotor)this.deviceService.device.getActuator(ActuatorModule.ARM_Z_MOTOR);
+        armZ.moveToLiquidLevel(name);
         return this.success();
     }
 }

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

@@ -14,6 +14,7 @@ import jakarta.annotation.Resource;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.beans.factory.annotation.Value;
+import org.springframework.core.env.Environment;
 import org.springframework.stereotype.Component;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
@@ -49,6 +50,8 @@ public class Device {
     public WebsocketServerService websocketServerService;
     @Resource
     public IdChipService idChipService;
+    @Resource
+    public Environment appEnv;
 
     // consumable : test cards
     public final CsmTestCardManager testCards = new CsmTestCardManager(this);
@@ -78,7 +81,7 @@ public class Device {
         this.appendActuator(new ActMotor(ActuatorModule.TEST_TUBE_SHAKING_ROTATE_MOTOR, this));
         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 ActArmZMotor(ActuatorModule.ARM_Z_MOTOR, this));
         this.appendActuator(new ActPipette(ActuatorModule.ARM_Z_PIPETTE, this));
         this.appendActuator(new ActIncubator(ActuatorModule.INCUBATOR_MOTOR, this));
         this.appendActuator(new ActMotor(ActuatorModule.ANALYSIS_PUSH_MOTOR, this));

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

@@ -0,0 +1,35 @@
+package com.dreamworks.boditech.driver.actuator;
+import com.dreamworks.boditech.driver.Device;
+import com.dreamworks.boditech.utils.AppError;
+import com.dreamworks.boditech.utils.AppRuntimeException;
+
+public class ActArmZMotor extends ActMotor {
+    // constructor
+    public ActArmZMotor(Integer mid, Device device) {
+        super(mid, device);
+    }
+
+    // move to level of liquid
+    public void moveToLiquidLevel( String pointName ) {
+        Device device = this.getDevice();
+        ActPipette pipette = (ActPipette)device.getActuator(ActuatorModule.ARM_Z_PIPETTE);
+
+        Integer armZPosition = device.getLocationByName(pointName + "LiquidLevelDetect.start");
+        Integer armZStep = device.getLocationByName(pointName + "LiquidLevelDetect.step");
+        Integer armZMax = device.getLocationByName(pointName + "LiquidLevelDetect.max");
+        Integer aspirationDepth = device.getLocationByName(pointName + "LiquidLevelDetect.aspirationDepth");
+        do {
+            this.moveTo(armZPosition);
+            if ( pipette.hasTipTouchedLiquidLevel() ) {
+                break;
+            }
+            armZPosition += armZStep;
+            if ( armZPosition > armZMax ) {
+                throw new AppRuntimeException(AppError.DEVICE_LIQUID_LEVEL_DETECT_FAILED);
+            }
+        } while ( true );
+
+        armZPosition += aspirationDepth;
+        this.moveTo(armZPosition);
+    }
+}

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

@@ -3,6 +3,9 @@ import com.dreamworks.boditech.driver.DeviceCommand;
 import com.dreamworks.boditech.driver.Device;
 import com.dreamworks.boditech.driver.consumable.CsmPipetteTip;
 public class ActPipette extends ActuatorBase {
+    // register : sensor temperature 0
+    public static final Integer REG_PIPETTE_CAPACITANCE_VAL = 4001;
+
     // has tip
     private Boolean hasTip = false;
 
@@ -50,12 +53,22 @@ public class ActPipette extends ActuatorBase {
 
     // move to given position
     public void aspiration(int volume) {
+        String enable = this.getDevice().appEnv.getProperty("app.device.pipetteAspirationEnable");
+        if ("false".equals(enable)) {
+            return ;
+        }
+
         this.call(DeviceCommand.CMD_PIPETTE_CTRL_MOVE_TO_UL, volume);
         this.waitForFinish();
     }
 
     // move to given position
     public void dispense(int volume) {
+        String enable = this.getDevice().appEnv.getProperty("app.device.pipetteAspirationEnable");
+        if ("false".equals(enable)) {
+            return ;
+        }
+
         this.call(DeviceCommand.CMD_PIPETTE_CTRL_MOVE_TO_UL, volume);
         this.waitForFinish();
     }
@@ -64,4 +77,22 @@ public class ActPipette extends ActuatorBase {
     public void dispense() {
         this.dispense(0);
     }
+
+    // get whether the tip has touched liquid level
+    public Boolean hasTipTouchedLiquidLevel() {
+        String enable = this.getDevice().appEnv.getProperty("app.device.pipetteLiquidLevelDetectEnable");
+        if ( "false".equals(enable) ) {
+            return true;
+        }
+
+        int threshold = this.getDevice().getLocationByName("liquidLevelDetectCapacitanceThreshold");
+        int highCount = 0;
+        for ( int i=0; i<3; i++ ) {
+            Integer capValue = this.getRegister(ActPipette.REG_PIPETTE_CAPACITANCE_VAL);
+            if ( capValue > threshold ) {
+                highCount++;
+            }
+        }
+        return highCount > 1;
+    }
 }

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

@@ -14,4 +14,6 @@ public class ClientRequest {
     public Integer errorCode = 0;
     // is response received
     public Boolean isResponseReceived = false;
+    // timeout count
+    public Integer timeoutCount = 0;
 }

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

@@ -118,6 +118,11 @@ public class ComSerialPort {
                     if ( requestItem.isResponseReceived ) {
                         return ;
                     }
+                    if ( requestItem.timeoutCount < 3 ) {
+                        requestItem.timeoutCount ++;
+                        write(requestItem.parameter);
+                        return ;
+                    }
                     LOG.info("device -- timeout");
                     requestItem.response = null;
                     requestItem.errorCode = ClientRequest.ERROR_CODE_TIMEOUT;
@@ -126,14 +131,12 @@ public class ComSerialPort {
             }
         };
         Timer timer = new Timer();
-        timer.schedule(timerTask, 10000);
+        timer.schedule(timerTask, 5000);
 
         synchronized (requestItem) {
             String cmd = MyByteBuffer.toHex(request.parameter);
             LOG.info("device => {}", cmd);
-
-            byte[] bytes = request.parameter.array();
-            this.port.writeBytes(bytes, bytes.length);
+            this.write(request.parameter);
             try {
                 requestItem.wait();
             } catch (InterruptedException e) {
@@ -154,4 +157,10 @@ public class ComSerialPort {
         int numRead = this.port.readBytes(buffer, buffer.length);
         return ByteBuffer.wrap(buffer, 0, numRead);
     }
+
+    // write data to serial port
+    public void write( ByteBuffer data ) {
+        byte[] bytes = data.array();
+        this.port.writeBytes(bytes, bytes.length);
+    }
 }

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

@@ -5,7 +5,9 @@ import com.dreamworks.boditech.driver.entity.IncubatorSlot;
 import com.dreamworks.boditech.driver.task.step.Step;
 import com.dreamworks.boditech.entity.Project;
 public interface TaskTest {
-    //
+    // get task type
+    String getTaskType();
+
     String getProjectName();
 
     CsmSampleTube getSampleTube();

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

@@ -45,6 +45,11 @@ abstract public class TaskTestBase extends TaskBase implements TaskTest  {
     private Boolean requestTaskStop = false;
 
     @Override
+    public String getTaskType() {
+        return this.test.taskType;
+    }
+
+    @Override
     public void stop() {
         if ( null == this.device ) {
             super.stop();

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

@@ -79,12 +79,12 @@ public class StepPretreatment extends StepBase {
         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);
+        ActArmZMotor armZMotor = (ActArmZMotor)device.getActuator(ActuatorModule.ARM_Z_MOTOR);
         CsmSampleTube sampleTube = this.taskTest.getSampleTube();
 
         pipette.useTip(this.pipetteTip);
         armXY.moveTo(sampleTube.getLocationX(), sampleTube.getLocationY());
-        armZMotor.moveTo(sampleTube.getLocationZ());
+        armZMotor.moveToLiquidLevel(sampleTube.type);
 
         for ( int i=0; i<5; i++ ) {
             pipette.aspiration(100);

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

@@ -6,6 +6,7 @@ import com.dreamworks.boditech.driver.task.Task;
 import com.dreamworks.boditech.driver.task.Executor;
 import com.dreamworks.boditech.driver.consumable.*;
 import com.dreamworks.boditech.driver.task.TaskTest;
+import com.dreamworks.boditech.utils.AppRuntimeException;
 import com.fasterxml.jackson.annotation.JsonProperty;
 public class StepSampling extends StepBase {
     @JsonProperty("source")
@@ -24,7 +25,7 @@ public class StepSampling extends StepBase {
     // arm XY
     private ActArmXY armXY;
     // arm Z motor
-    private ActMotor armZMotor;
+    private ActArmZMotor armZMotor;
     // pipette
     private ActPipette pipette;
 
@@ -54,7 +55,7 @@ public class StepSampling extends StepBase {
         Device device = executor.getDevice();
         this.taskTest = (TaskTest)task;
         this.armXY = (ActArmXY)device.getActuator(ActuatorModule.ARM_XY);
-        this.armZMotor = (ActMotor)device.getActuator(ActuatorModule.ARM_Z_MOTOR);
+        this.armZMotor = (ActArmZMotor)device.getActuator(ActuatorModule.ARM_Z_MOTOR);
         this.pipette = (ActPipette)device.getActuator(ActuatorModule.ARM_Z_PIPETTE);
 
         // 准备测试板夹
@@ -126,7 +127,18 @@ public class StepSampling extends StepBase {
         CsmSampleTube sampleTube = this.taskTest.getSampleTube();
 
         this.armXY.moveTo(sampleTube.getLocationX(), sampleTube.getLocationY());
-        this.armZMotor.moveTo(sampleTube.getLocationZ());
+        try {
+            if (CsmSampleTube.TASK_TYPE_EMERGENCY.equals(this.taskTest.getTaskType())) {
+                this.armZMotor.moveToLiquidLevel("emergencyTube");
+            } else {
+                this.armZMotor.moveToLiquidLevel(sampleTube.type);
+            }
+        } catch ( AppRuntimeException e ) {
+            // @TODO : 额~~~ 这里是个大问题， 样本没有取到的话，我应该当作没发生，继续执行后续操作 ~~~
+            // 但是应当标记一下这个测试状态到 ERROR 才行， 顺便发个通知给前台 ~~~
+            // 这里先忽略掉， 后面根据 issue 来处理
+        }
+
         this.pipette.aspiration(this.amount);
         this.armZMotor.moveTo(0);
     }
@@ -136,6 +148,7 @@ public class StepSampling extends StepBase {
         CsmLargeBufferTube tube = this.largeBufferTube;
         this.armXY.moveTo(tube.getLocationX(), tube.getLocationY());
         this.armZMotor.moveTo(tube.getLocationZ());
+        this.armZMotor.moveToLiquidLevel("largeBufferTube");
         this.pipette.aspiration(this.amount);
         this.armZMotor.moveTo(0);
     }

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

@@ -29,4 +29,5 @@ public enum AppError {
     DEVICE_STOP_FAILED,
     DEVICE_EXECUTING_REQUIRED,
     DEVICE_START_RESET_EXECUTING,
+    DEVICE_LIQUID_LEVEL_DETECT_FAILED,
 }

src/main/resources/application-dev.yml

@@ -12,10 +12,12 @@ app:
   device:
     enable : true
     debug : true
-    connectionType : SerialPort # SerialPort, WebSocket
+    connectionType : WebSocket # SerialPort, WebSocket
     path : COM3
     baudrate : 921600
     wsuri : ws://192.168.8.10:19005
+    pipetteAspirationEnable : false
+    pipetteLiquidLevelDetectEnable : false
 
   websocket:
     port : 19006