孵育盘卡位资源等待

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

@@ -5,6 +5,10 @@ import com.dreamworks.boditech.utils.AppError;
 import com.dreamworks.boditech.utils.AppRuntimeException;
 import com.dreamworks.boditech.utils.MyCommon;
 public class ActIncubator extends ActMotor {
+    // init exit slot index
+    public static final Integer INIT_EXIT_SLOT_INDEX = 10;
+    // incubator slot count
+    public static final Integer SLOT_COUNT = 20;
     // slots
     private final IncubatorSlot[] slots;
     // alloc index
@@ -15,8 +19,8 @@ public class ActIncubator extends ActMotor {
         super(mid, device);
 
         this.allocStartIndex = 0;
-        this.slots = new IncubatorSlot[20];
-        for ( int i = 0; i < 20; i++ ) {
+        this.slots = new IncubatorSlot[ActIncubator.SLOT_COUNT];
+        for ( int i = 0; i < ActIncubator.SLOT_COUNT; i++ ) {
             IncubatorSlot slot = new IncubatorSlot(this);
             slot.index = i;
             slot.isFree = true;
@@ -36,9 +40,9 @@ public class ActIncubator extends ActMotor {
 
     // get free slot
     public IncubatorSlot allocSlot() {
-        for ( int i = this.allocStartIndex; i < 20; i++ ) {
+        for ( int i = this.allocStartIndex; i < ActIncubator.SLOT_COUNT; i++ ) {
             if ( this.slots[i].isFree ) {
-                this.allocStartIndex = (i + 1) % 20;
+                this.allocStartIndex = (i + 1) % ActIncubator.SLOT_COUNT;
                 return this.slots[i];
             }
         }
@@ -59,7 +63,7 @@ public class ActIncubator extends ActMotor {
 
     // has locked slot
     public Boolean hasLockedSlot() {
-        for ( int i = 0; i < 20; i++ ) {
+        for ( int i = 0; i < ActIncubator.SLOT_COUNT; i++ ) {
             if ( !this.slots[i].isFree ) {
                 return true;
             }
@@ -67,6 +71,16 @@ public class ActIncubator extends ActMotor {
         return false;
     }
 
+    // has free slot
+    public Boolean hasFreeSlot() {
+        for ( int i = 0; i < ActIncubator.SLOT_COUNT; i++ ) {
+            if ( this.slots[i].isFree ) {
+                return true;
+            }
+        }
+        return false;
+    }
+
     // update runtime slot status
     private void updateRuntimeSlotStatus() {
         this.getDevice().runtimeVariableService.setString(

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

@@ -29,6 +29,8 @@ public class Executor implements Runnable {
     private final Object statusLock = new Object();
     // working status
     public String workingStatus = "WAIT_FOR_TUBE_RACK";
+    // incubator wait task
+    private Task incubatorWaitTask = null;
 
     /**
      * execute single task on device
@@ -225,4 +227,24 @@ public class Executor implements Runnable {
     public Device getDevice() {
         return this.device;
     }
+
+    // wait for incubator slot
+    public void waitForIncubatorSlot( Task task ) {
+        LOG.info("task executor wait for incubator slot");
+        this.status = Executor.STATUS_PAUSED;
+        this.incubatorWaitTask = task;
+    }
+
+    // incubator slot available
+    public void incubatorSlotAvailable() {
+        if ( null == this.incubatorWaitTask ) {
+            return ;
+        }
+        LOG.info("task executor incubator slot available");
+        this.status = Executor.STATUS_RUNNING;
+        this.incubatorWaitTask.setStatus(Task.STATUS_READY);
+        this.incubatorWaitTask = null;
+    }
+
+//    public void waitForConsumable( Task task );
 }

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

@@ -107,7 +107,7 @@ public class TaskStartReset extends TaskBase {
 
         // 11. 光学推杆电机复位
         LOG.info("[reset] analysis push motor");
-        IncubatorSlot incubatorSlot = incubatorMotor.getSlotByIndex(10);
+        IncubatorSlot incubatorSlot = incubatorMotor.getSlotByIndex(ActIncubator.INIT_EXIT_SLOT_INDEX);
         incubatorMotor.moveTo(incubatorSlot.getExitLocation());
         this.analysisPushMotor.reset();
         this.analysisPushMotor.moveTo("analysisPushMotorStandby");

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

@@ -1,5 +1,7 @@
 package com.dreamworks.boditech.driver.task;
 import com.dreamworks.boditech.driver.Device;
+import com.dreamworks.boditech.driver.actuator.ActIncubator;
+import com.dreamworks.boditech.driver.actuator.ActuatorModule;
 import com.dreamworks.boditech.driver.consumable.CsmBufferTube;
 import com.dreamworks.boditech.driver.consumable.CsmSampleTube;
 import com.dreamworks.boditech.driver.entity.IncubatorSlot;
@@ -67,7 +69,9 @@ abstract public class TaskTestBase extends TaskBase implements TaskTest  {
     public void execute(Executor executor) {
         this.device = executor.getDevice();
         this.taskExecutor = executor;
-        this.setupTask();
+        if ( !this.setupTask() ) {
+            return ;
+        }
 
         // execute steps
         while ( this.stepIndex < this.steps.size() ) {
@@ -104,10 +108,14 @@ abstract public class TaskTestBase extends TaskBase implements TaskTest  {
     }
 
     // setup task if needed
-    private void setupTask() {
+    private Boolean setupTask() {
         this.setStatus(Task.STATUS_EXECUTING);
         if ( null != this.steps ) {
-            return ;
+            return true;
+        }
+
+        if ( !this.waitForResource() ) {
+            return false;
         }
 
         Device device = this.taskExecutor.getDevice();
@@ -123,6 +131,19 @@ abstract public class TaskTestBase extends TaskBase implements TaskTest  {
         this.test = new MdbTest();
         this.beforeTaskExecute(this.test);
         device.testService.insert(this.test);
+        return true;
+    }
+
+    // wait for resource
+    private Boolean waitForResource() {
+        ActIncubator incubator = (ActIncubator) this.device.getActuator(ActuatorModule.INCUBATOR_MOTOR);
+        if ( !incubator.hasFreeSlot() ) {
+            this.taskExecutor.waitForIncubatorSlot(this);
+            this.setStatus(Task.STATUS_WAITING);
+            return false;
+        }
+
+        return true;
     }
 
     // execute step

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

@@ -55,6 +55,7 @@ public class StepAnalysis extends StepBase {
 
         // unlock incubator slot
         incubator.unlockSlot(incubatorSlot.getIndex());
+        executor.incubatorSlotAvailable();
     }
 
     // calculate result

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

@@ -8,6 +8,8 @@ public class AppExceptionHandler {
     @ExceptionHandler(value = AppRuntimeException.class)
     @ResponseBody
     public ApiResponse handleAppRuntimeException(AppRuntimeException e) {
+        e.printStackTrace();
+
         ApiResponse response = new ApiResponse();
         response.success = false;
         response.message = e.getMessage();
@@ -19,6 +21,8 @@ public class AppExceptionHandler {
     @ExceptionHandler(value = RuntimeException.class)
     @ResponseBody
     public ApiResponse handleRuntimeException(RuntimeException e ) {
+        e.printStackTrace();
+
         ApiResponse response = new ApiResponse();
         response.success = false;
         response.message = e.getMessage();