增加步骤：结果分析

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

@@ -60,6 +60,10 @@ public class Device {
         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));
+        this.appendActuator(new ActIncubator(ActuatorModule.INCUBATOR_MOTOR, this));
+        this.appendActuator(new ActMotor(ActuatorModule.ANALYSIS_PUSH_MOTOR, this));
+        this.appendActuator(new ActMotor(ActuatorModule.ANALYSIS_SCAN_MOTOR, this));
+        this.appendActuator(new ActAnalysisScanner(ActuatorModule.ANALYSIS_SCAN_SCANNER, this));
     }
 
     // append actuator
@@ -171,8 +175,6 @@ public class Device {
 
     // 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 ) {
@@ -212,7 +214,11 @@ public class Device {
         this.serialPort.write(request);
 
         ByteBuffer response = ByteBuffer.allocate(0);
-        while ( 0 == response.capacity() ) {
+        for ( int i=0; i<10; i++ ) {
+            if ( 0 != response.capacity() ) {
+                break;
+            }
+            LOG.info("wait for response ...");
             try {
                 Thread.sleep(300);
             } catch (InterruptedException e) {
@@ -222,7 +228,7 @@ public class Device {
         }
 
         LOG.info("Device serial port <= {}", MyByteBuffer.toHex(response));
-        return response;
+        return 0 == response.capacity() ? null : response;
     }
 
     private ByteBuffer prodCall(Integer cmd, Integer mid, Object[] params) {

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

@@ -0,0 +1,8 @@
+package com.dreamworks.boditech.driver.actuator;
+import com.dreamworks.boditech.driver.Device;
+public class ActAnalysisScanner extends ActuatorBase {
+    // constructor
+    public ActAnalysisScanner(Integer mid, Device device) {
+        super(mid, device);
+    }
+}

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

@@ -0,0 +1,47 @@
+package com.dreamworks.boditech.driver.actuator;
+import com.dreamworks.boditech.driver.Command;
+import com.dreamworks.boditech.driver.Device;
+import com.dreamworks.boditech.driver.entity.IncubatorSlot;
+public class ActIncubator extends ActMotor {
+    // slots
+    private IncubatorSlot[] slots;
+
+    // constructor
+    public ActIncubator(Integer mid, Device device) {
+        super(mid, device);
+
+        this.slots = new IncubatorSlot[20];
+        for ( int i = 0; i < 20; i++ ) {
+            IncubatorSlot slot = new IncubatorSlot();
+            slot.index = i;
+            slot.isFree = true;
+            this.slots[i] = slot;
+        }
+    }
+
+    // get slot
+    public boolean hasFreeSlot() {
+        for ( int i = 0; i < 20; i++ ) {
+            if ( this.slots[i].isFree ) {
+                return true;
+            }
+        }
+        return false;
+    }
+
+    // move to free position
+    public void moveToFreePosition() {
+        IncubatorSlot slot = null;
+        for ( int i = 0; i < 20; i++ ) {
+            if ( this.slots[i].isFree ) {
+                slot = this.slots[i];
+                break;
+            }
+        }
+        if ( slot == null ) {
+            throw new RuntimeException("no free slot");
+        }
+
+        this.moveTo(slot.getLocation());
+    }
+}

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

@@ -36,6 +36,9 @@ public class ActuatorBase implements Actuator {
         Integer status = ActuatorModule.MODULE_STATUS_BUSY;
         do {
             ByteBuffer response = this.call(Command.CMD_MODULE_GET_STATUS);
+            if ( null == response ) {
+                continue ;
+            }
             status = this.getIntegerFromResponse(response, 0);
             try {
                 Thread.sleep(100);

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

@@ -13,6 +13,10 @@ public class ActuatorModule {
     public static Integer TEST_TUBE_RACK_MOVE_MOTOR = 62;
     public static Integer TEST_TUBE_RACK_EXIT_MOTOR = 63;
     public static Integer TEST_TUBE_RACK_SCANNER = 64;
+    public static Integer INCUBATOR_MOTOR = 71;
+    public static Integer ANALYSIS_PUSH_MOTOR = 92;
+    public static Integer ANALYSIS_SCAN_MOTOR = 91;
+    public static Integer ANALYSIS_SCAN_SCANNER = 93;
 
     public static Integer MODULE_STATUS_IDLE = 0;
     public static Integer MODULE_STATUS_BUSY = 1;

src/main/java/com/dreamworks/boditech/driver/entity/IncubatorSlot.java

@@ -0,0 +1,17 @@
+package com.dreamworks.boditech.driver.entity;
+public class IncubatorSlot {
+    public Integer index;
+    public Boolean isFree;
+
+    // get position
+    // @TODO : use real position
+    public Integer getLocation() {
+        return 800;
+    }
+
+    // get exit position
+    // @TODO : use real exit position
+    public Integer getExitLocation() {
+        return 18900;
+    }
+}

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

@@ -5,6 +5,7 @@ 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.entity.IncubatorSlot;
 import com.dreamworks.boditech.driver.task.step.Step;
 import com.dreamworks.boditech.driver.task.step.StepManager;
 
@@ -34,6 +35,8 @@ public class TaskTest implements Task {
     private ReactionTube reactionTube;
     // sample tube
     private CsmSampleTube sampleTube;
+    // incubator slot
+    private IncubatorSlot incubatorSlot;
 
     // set reaction tube
     public void setReactionTube(ReactionTube reactionTube) {
@@ -55,14 +58,24 @@ public class TaskTest implements Task {
         return this.sampleTube;
     }
 
+    // set incubator slot
+    public void setIncubatorSlot(IncubatorSlot incubatorSlot) {
+        this.incubatorSlot = incubatorSlot;
+    }
+
+    // get incubator slot
+    public IncubatorSlot getIncubatorSlot() {
+        return this.incubatorSlot;
+    }
 
     @Override
     public void execute(TaskExecutor executor) {
         // @TODO : use real sample tube
         this.sampleTube = new CsmSampleTube();
         this.reactionTube = new CsmBufferTubeA();
+        this.incubatorSlot = new IncubatorSlot();
 
-        List<Step> steps = StepManager.buildSteps("[{\"action\":\"sampling\",\"sourceTubeType\":\"Sample\",\"amount\":\"100\"}]");
+        List<Step> steps = StepManager.buildSteps("[{\"action\":\"analysis\"}]");
         for ( Step step : steps ) {
             step.execute(executor, this);
         }

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

@@ -0,0 +1,49 @@
+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.ActAnalysisScanner;
+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 com.dreamworks.boditech.driver.task.TaskTest;
+import com.fasterxml.jackson.annotation.JsonProperty;
+public class StepAnalysis extends StepBase {
+    @JsonProperty("action")
+    public String action;
+
+    @Override
+    public void execute(TaskExecutor executor, Task task) {
+        TaskTest taskTest = (TaskTest)task;
+        Device device = executor.getDevice();
+        ActIncubator incubator = (ActIncubator)device.getActuator(ActuatorModule.INCUBATOR_MOTOR);
+        ActMotor pushMotor = (ActMotor)device.getActuator(ActuatorModule.ANALYSIS_PUSH_MOTOR);
+        ActMotor scanMotor = (ActMotor)device.getActuator(ActuatorModule.ANALYSIS_SCAN_MOTOR);
+        ActAnalysisScanner scanner = (ActAnalysisScanner)device.getActuator(ActuatorModule.ANALYSIS_SCAN_SCANNER);
+
+        // 01. 获取卡位
+        IncubatorSlot slot = taskTest.getIncubatorSlot();
+        incubator.moveTo(slot.getExitLocation());
+
+        // 02. 推出测试卡
+        pushMotor.moveTo("analysisPushMotorScanStart");
+        pushMotor.moveTo("analysisPushMotorStandby");
+
+        // 03. 扫描测试卡
+        scanner.start();
+        // @TODO : wait for scan finish
+        try {
+            Thread.sleep(1000);
+        } catch (InterruptedException e) {
+            throw new RuntimeException(e);
+        }
+        scanner.stop();
+        // @TODO : read raw from scanner and parse it later
+
+        // 04. 丢弃测试卡
+        scanMotor.moveTo("analysisScanMotorDropCard");
+
+        // @TODO : process raw data from scanner
+    }
+}

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

@@ -18,6 +18,7 @@ public class StepManager {
         StepManager.stepMap.put("shake", StepShake.class);
         StepManager.stepMap.put("puncture", StepPuncture.class);
         StepManager.stepMap.put("sampling", StepSampling.class);
+        StepManager.stepMap.put("analysis", StepAnalysis.class);
     }
 
     // build step by given name