增加子弹头0.5ml支持

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

@@ -53,6 +53,8 @@ public class CsmSampleTube {
             return this.device.getLocationByName("regularBloodTube5mlDepth");
         } else if ( CsmSampleTube.TYPE_BLOOD_TUBE_3ML.equals(this.type) ) {
             return this.device.getLocationByName("regularBloodTube3mlDepth");
+        } else if (CsmSampleTube.TYPE_EPP05.equals(this.type)) {
+            return this.device.getLocationByName("regularEpp0.5mlDepth");
         } else {
             throw new RuntimeException("unknown tube type " + this.type);
         }

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

@@ -72,21 +72,23 @@ public class TaskTestTubeRackPrepare extends TaskBase {
         }
 
         // 03. 试管架类型检测
-        this.testTubeRackTypeDetect();
+        MdbTestTube testTube = this.testTubeRackTypeDetect();
 
         // 03. 逐个扫描试管
         this.testTubeBarcodes = new String[10];
-        int scanStartPos = this.device.getLocationByName("testTubeRackScanStart");
-        for ( int i = 0; i < 10; i++ ) {
-            if ( !this.testTubeExistsStatus[i] ) {
-                this.testTubeBarcodes[i] = "";
-                continue ;
+        if ( testTube.scanable ) {
+            int scanStartPos = this.device.getLocationByName("testTubeRackScanStart");
+            for ( int i = 0; i < 10; i++ ) {
+                if ( !this.testTubeExistsStatus[i] ) {
+                    this.testTubeBarcodes[i] = "";
+                    continue ;
+                }
+                this.testTubeMoveMotor.moveTo(scanStartPos + i * tubeDistance);
+                testTubeRotateMotor.rotate(ActMotor.ROTATE_DIRECTION_CLOCKWISE);
+                String code = this.testTubeScanner.scan(1000);
+                testTubeRotateMotor.reset();
+                this.testTubeBarcodes[i] = code;
             }
-            this.testTubeMoveMotor.moveTo(scanStartPos + i * tubeDistance);
-            testTubeRotateMotor.rotate(ActMotor.ROTATE_DIRECTION_CLOCKWISE);
-            String code = this.testTubeScanner.scan(1000);
-            testTubeRotateMotor.reset();
-            this.testTubeBarcodes[i] = code;
         }
 
         // 04. 扫描完成后推送到预备区域
@@ -111,6 +113,9 @@ public class TaskTestTubeRackPrepare extends TaskBase {
 
             if ( tube.barCode.isEmpty() ) {
                 tube.barCode = this.testTubeBarcodes[tube.index];
+                if ( null == tube.barCode ) {
+                    tube.barCode = "";
+                }
             }
 
             List<Integer> projectIds = (List<Integer>) MyCommon.jsonToObject(tube.projectIds, List.class);
@@ -162,9 +167,9 @@ public class TaskTestTubeRackPrepare extends TaskBase {
     }
 
     // 试管架类型检测
-    private void testTubeRackTypeDetect() {
+    private MdbTestTube testTubeRackTypeDetect() {
         if ( !this.mdbTask.tubeType.isEmpty() ) {
-            return ;
+            return this.testService.testTubeFindByKey(this.mdbTask.tubeType);
         }
 
         this.testTubeMoveMotor.moveTo("testTubeRackTubeTypeScan");
@@ -193,5 +198,6 @@ public class TaskTestTubeRackPrepare extends TaskBase {
         }
         this.mdbTask.tubeType = testTube.key;
         this.testService.regularTaskUpdate(this.mdbTask);
+        return testTube;
     }
 }

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

@@ -1,12 +1,16 @@
 package com.dreamworks.boditech.driver.task.step;
 import com.dreamworks.boditech.driver.Device;
+import com.dreamworks.boditech.driver.actuator.*;
+import com.dreamworks.boditech.driver.consumable.CsmPipetteTip;
 import com.dreamworks.boditech.driver.consumable.CsmSampleTube;
 import com.dreamworks.boditech.driver.task.Task;
 import com.dreamworks.boditech.driver.task.Executor;
-import com.dreamworks.boditech.driver.actuator.ActMotor;
-import com.dreamworks.boditech.driver.actuator.ActuatorModule;
 import com.dreamworks.boditech.driver.task.TaskTest;
+import com.dreamworks.boditech.entity.MdbTestTube;
 import com.fasterxml.jackson.annotation.JsonProperty;
+
+import java.util.Objects;
+
 public class StepPretreatment extends StepBase {
     @JsonProperty
     public Boolean shaking;
@@ -36,38 +40,78 @@ public class StepPretreatment extends StepBase {
         this.testTubeShakeMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_SHAKE_MOTOR);
         this.testTubeClipMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_CLIP_MOTOR);
 
+        CsmSampleTube tube = this.taskTest.getSampleTube();
+        MdbTestTube testTube = executor.getDevice().testService.testTubeFindByKey(tube.type);
         if ( this.shaking ) {
-            this.shake();
+            if (Objects.equals(tube.type, CsmSampleTube.TYPE_BLOOD_TUBE_5ML)) {
+                this.shakeBloodTube5ml();
+            } else if ( Objects.equals(tube.type, CsmSampleTube.TYPE_BLOOD_TUBE_3ML) ) {
+                this.shakeBloodTube3ml();
+            } else if (Objects.equals(MdbTestTube.MIX_TYPE_PIPETTE, testTube.mixType)) {
+                this.mixByPipette(executor);
+            } else {
+                throw new RuntimeException("不支持的摇匀试管类型："+tube.type);
+            }
         }
+
         if ( this.uncap ) {
             this.uncap("none");
         }
     }
 
-    // shake
-    private void shake() {
-        if ( !this.taskTest.getSampleTube().isShakable() ) {
-            return ;
+    // 通过移液枪混匀
+    private void mixByPipette(Executor executor) {
+        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);
+        CsmSampleTube sampleTube = this.taskTest.getSampleTube();
+
+        CsmPipetteTip tip = device.pipetteTips.tipAlloc();
+        pipette.useTip(tip);
+        armXY.moveTo(sampleTube.getLocationX(), sampleTube.getLocationY());
+        armZMotor.moveTo(sampleTube.getLocationZ());
+
+        for ( int i=0; i<5; i++ ) {
+            pipette.aspiration(100);
+            pipette.dispense();
         }
 
+        armZMotor.moveTo(0);
+        pipette.dropTip();
+    }
+
+    // 全血3ml试管
+    private void shakeBloodTube3ml() {
         this.testTubeCapClipMotor.moveTo("shakeTestTubeCapClipOpen");
-        if (CsmSampleTube.TYPE_BLOOD_TUBE_5ML.equals(this.taskTest.getSampleTube().type)) { // 全血试管：高
-            this.testTubeMoveMotor.moveTo("shakeTestTubeMoveCapClip");
-            this.testTubeCapClipMotor.moveTo("shakeTestTubeCapClipClose");
-        } else if ( CsmSampleTube.TYPE_BLOOD_TUBE_3ML.equals(this.taskTest.getSampleTube().type) ) { // 全血试管：低
-            this.testTubeMoveMotor.moveTo("shakeTestTubeCapBodyClipDepth"); // 下降到试管帽中间位置，用于夹住试管帽=1200
-            this.testTubeCapClipMotor.moveTo("shakeTestTubeCapClipBodyClose"); //夹住试管帽=850
-            this.testTubeMoveMotor.moveTo("shakeTestTubeBT3mlPullUpDepth"); //往上提一点=980
-            this.testTubeClipMotor.rotate(ActMotor.ROTATE_DIRECTION_CLOCKWISE);  //试管夹夹住试管
-            this.testTubeCapClipMotor.moveTo("shakeTestTubeCapClipOpen"); //试管帽夹松开
-            this.testTubeMoveMotor.moveTo("shakeTestTubeMoveCapClip"); //试管帽夹下降
-            this.testTubeCapClipMotor.moveTo("shakeTestTubeCapClipBt3mlClose"); // 试管帽夹夹住整个试管帽=850
-            this.testTubeClipMotor.rotate(ActMotor.ROTATE_DIRECTION_COUNTER_CLOCKWISE); //试管夹松开
-            this.testTubeClipMotor.stop(); //试管夹停止
-        }
+        this.testTubeMoveMotor.moveTo("shakeTestTubeCapBodyClipDepth"); // 下降到试管帽中间位置，用于夹住试管帽=1200
+        this.testTubeCapClipMotor.moveTo("shakeTestTubeCapClipBodyClose"); //夹住试管帽=850
+        this.testTubeMoveMotor.moveTo("shakeTestTubeBT3mlPullUpDepth"); //往上提一点=980
+        this.testTubeClipMotor.rotate(ActMotor.ROTATE_DIRECTION_CLOCKWISE);  //试管夹夹住试管
+        this.testTubeCapClipMotor.moveTo("shakeTestTubeCapClipOpen"); //试管帽夹松开
+        this.testTubeMoveMotor.moveTo("shakeTestTubeMoveCapClip"); //试管帽夹下降
+        this.testTubeCapClipMotor.moveTo("shakeTestTubeCapClipBt3mlClose"); // 试管帽夹夹住整个试管帽=850
+        this.testTubeClipMotor.rotate(ActMotor.ROTATE_DIRECTION_COUNTER_CLOCKWISE); //试管夹松开
+        this.testTubeClipMotor.stop(); //试管夹停止
+        this.testTubeMoveMotor.moveTo("shakeTestTubeMoveStandby");
+        this.shakeMotorExecute();
+        this.testTubeMoveMotor.moveTo("shakeTestTubeMoveCapClip");
+        this.uncap("shaking");
+    }
 
+    // 全血5ml试管
+    private void shakeBloodTube5ml() {
+        this.testTubeCapClipMotor.moveTo("shakeTestTubeCapClipOpen");
+        this.testTubeMoveMotor.moveTo("shakeTestTubeMoveCapClip");
+        this.testTubeCapClipMotor.moveTo("shakeTestTubeCapClipClose");
         this.testTubeMoveMotor.moveTo("shakeTestTubeMoveStandby");
+        this.shakeMotorExecute();
+        this.testTubeMoveMotor.moveTo("shakeTestTubeMoveCapClip");
+        this.uncap("shaking");
+    }
 
+    // 执行摇匀
+    private void shakeMotorExecute() {
         // 05. 摇晃
         // @TODO : 摇不得摇不得， 没限位， 要乱的
 //        this.testTubeShakeMotor.rotate(ActMotor.ROTATE_DIRECTION_CLOCKWISE);
@@ -77,9 +121,6 @@ public class StepPretreatment extends StepBase {
 //            throw new RuntimeException(e);
 //        }
 //        this.testTubeShakeMotor.stop();
-
-        this.testTubeMoveMotor.moveTo("shakeTestTubeMoveCapClip");
-        this.uncap("shaking");
     }
 
     // uncap

src/main/java/com/dreamworks/boditech/entity/MdbTestTube.java

@@ -1,5 +1,7 @@
 package com.dreamworks.boditech.entity;
 public class MdbTestTube {
+    public static String MIX_TYPE_PIPETTE = "PIPETTE";
+
     // id
     public Integer id;
     // key
@@ -8,4 +10,8 @@ public class MdbTestTube {
     public String name;
     // code
     public String code;
+    // scanable
+    public Boolean scanable;
+    // mix type
+    public String mixType;
 }

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

@@ -6,4 +6,7 @@ import org.apache.ibatis.annotations.Select;
 public interface TestTubeMapper {
     @Select("SELECT * FROM bdt_test_tubes WHERE code = #{code}")
     MdbTestTube findByCode(String code);
+
+    @Select("SELECT * FROM bdt_test_tubes WHERE `key` = #{key}")
+    MdbTestTube findByKey(String key);
 }

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

@@ -419,4 +419,9 @@ public class TestService {
     public MdbTestTube testTubeFindByCode( String code) {
         return this.testTubeMapper.findByCode(code);
     }
+
+    // test tube by key
+    public MdbTestTube testTubeFindByKey( String key ) {
+        return this.testTubeMapper.findByKey(key);
+    }
 }