全血3ml试管支持

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

@@ -64,7 +64,7 @@ public class Device {
     // message index
     private short messageIndex = 0;
     // device ready
-    private Boolean isReady = true;
+    private Boolean isReady = false;
 
     @PostConstruct
     public void init() {

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

@@ -12,6 +12,7 @@ public class DeviceCommand {
     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_MOTOR_EASY_MOVE_TO_ZERO = 0x0214;
+    public static final Integer CMD_MOTOR_READ_POS = 0x020B;
     public static final Integer CMD_XYMOTOR_MOVE_TO = 0x0303;
     public static final Integer CMD_XYMOTOR_MOVE_TO_ZERO = 0x0304;
     public static final Integer CMD_PIPETTE_CTRL_INIT_DEVICE = 0x0501;

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

@@ -68,6 +68,15 @@ public class ActMotor extends ActuatorBase {
         this.waitForFinish();
     }
 
+    // read pos
+    public Integer readPos() {
+        ByteBuffer response = this.call(DeviceCommand.CMD_MOTOR_READ_POS);
+        if ( null == response ) {
+            return this.readPos();
+        }
+        return this.getIntegerFromResponse(response, 0);
+    }
+
     // move to point
     public void moveToPoint( int pointType ) {
         // @TODO : 硬件暂时未更新

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

@@ -1,6 +1,7 @@
 package com.dreamworks.boditech.driver.task;
 import com.dreamworks.boditech.driver.Device;
 import com.dreamworks.boditech.driver.actuator.*;
+import com.dreamworks.boditech.entity.MdbTestTube;
 import com.dreamworks.boditech.entity.MdbTestTubeRackTestTask;
 import com.dreamworks.boditech.entity.MdbTestTubeRackTestTaskTube;
 import com.dreamworks.boditech.service.TestService;
@@ -20,6 +21,10 @@ public class TaskTestTubeRackPrepare extends TaskBase {
     private ActModuleTestTubeRackMovement testTubeMovement;
     // testTubeFeedMotor
     private ActMotor testTubeFeedMotor;
+    // testTubeMoveMotor
+    private ActMotor testTubeMoveMotor;
+    // testTubeScanner
+    private ActCodeScanner testTubeScanner;
     // testTubeExistsStatus
     private boolean[] testTubeExistsStatus;
     // testTubeBarcodes
@@ -49,7 +54,8 @@ public class TaskTestTubeRackPrepare extends TaskBase {
         this.device = executor.getDevice();
         this.testTubeFeedMotor = (ActMotor)this.device.getActuator(ActuatorModule.TEST_TUBE_RACK_FEED_MOTOR);
         this.testTubeMovement = (ActModuleTestTubeRackMovement)this.device.getActuator(ActuatorModule.TEST_TUBE_RACK_MOVEMENT);
-        ActMotor testTubeMoveMotor = (ActMotor)this.device.getActuator(ActuatorModule.TEST_TUBE_RACK_MOVE_MOTOR);
+        this.testTubeMoveMotor = (ActMotor)this.device.getActuator(ActuatorModule.TEST_TUBE_RACK_MOVE_MOTOR);
+        this.testTubeScanner = (ActCodeScanner)this.device.getActuator(ActuatorModule.TEST_TUBE_RACK_SCANNER);
         ActMotor testTubeRotateMotor = (ActMotor) this.device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_ROTATE_MOTOR);
 
         // 01. 入料
@@ -60,13 +66,15 @@ public class TaskTestTubeRackPrepare extends TaskBase {
         int tubeDistance = this.device.getLocationByName("testTubeRackTubeDistance");
         int existsCheckStartPos = this.device.getLocationByName("testTubeRackExistsCheckStart");
         for ( int i = 0; i < 10; i++ ) {
-            testTubeMoveMotor.moveTo(existsCheckStartPos + i * tubeDistance);
+            this.testTubeMoveMotor.moveTo(existsCheckStartPos + i * tubeDistance);
             Integer isExists = this.testTubeMovement.readIO(ActModuleTestTubeRackMovement.IO_TEST_TUBE_EXISTS);
             this.testTubeExistsStatus[i] = Objects.equals(this.device.getIOValueByName("testTubeRackTubeExistsYes"), isExists);
         }
 
+        // 03. 试管架类型检测
+        this.testTubeRackTypeDetect();
+
         // 03. 逐个扫描试管
-        ActCodeScanner testTubeScanner = (ActCodeScanner)this.device.getActuator(ActuatorModule.TEST_TUBE_RACK_SCANNER);
         this.testTubeBarcodes = new String[10];
         int scanStartPos = this.device.getLocationByName("testTubeRackScanStart");
         for ( int i = 0; i < 10; i++ ) {
@@ -74,21 +82,15 @@ public class TaskTestTubeRackPrepare extends TaskBase {
                 this.testTubeBarcodes[i] = "";
                 continue ;
             }
-            testTubeMoveMotor.moveTo(scanStartPos + i * tubeDistance);
+            this.testTubeMoveMotor.moveTo(scanStartPos + i * tubeDistance);
             testTubeRotateMotor.rotate(ActMotor.ROTATE_DIRECTION_CLOCKWISE);
-            String code = testTubeScanner.scan(1000);
+            String code = this.testTubeScanner.scan(1000);
             testTubeRotateMotor.reset();
             this.testTubeBarcodes[i] = code;
         }
 
-        if ( this.mdbTask.tubeType.isEmpty() ) {
-            // @TODO : 试管为空需要扫描试管架了
-            this.mdbTask.tubeType = "BloodTube5ml";
-            this.testService.regularTaskUpdate(this.mdbTask);
-        }
-
         // 04. 扫描完成后推送到预备区域
-        testTubeMoveMotor.moveTo("testTubeRackStandby");
+        this.testTubeMoveMotor.moveTo("testTubeRackStandby");
 
         this.appendTestTasksToExecutor(executor);
         TaskBatchTubeExit exitTask = new TaskBatchTubeExit();
@@ -158,4 +160,38 @@ public class TaskTestTubeRackPrepare extends TaskBase {
         // 任然没有找到
         throw new AppRuntimeException(AppError.TEST_TUBE_RACK_FEED_RACK_NOT_FOUND);
     }
+
+    // 试管架类型检测
+    private void testTubeRackTypeDetect() {
+        if ( !this.mdbTask.tubeType.isEmpty() ) {
+            return ;
+        }
+
+        this.testTubeMoveMotor.moveTo("testTubeRackTubeTypeScan");
+        String typeCode = this.testTubeScanner.scan(1000);
+        if ( "0000".equals(typeCode) ) {
+            // 如果是全血试管架，还需要检查当前是高试管还是低试管 ~~~
+            // !!! 禁止一个试管架中既有高试管又有低试管
+            ActMotor testTubeCapClipMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_CAP_CLIP_MOTOR);
+            ActMotor testTubeShakeMoveMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_MOVE_MOTOR);
+
+            this.testTubeMoveMotor.moveTo("testTubeRackTubeSamplingStart");
+            testTubeCapClipMotor.moveTo("shakeTestTubeCapClipOpen");
+            testTubeShakeMoveMotor.moveTo("shakeTestTubeMoveCapClip");
+            testTubeCapClipMotor.moveTo("shakeTestTubeCapClipClose");
+            Integer clipMotorPos = testTubeCapClipMotor.readPos();
+            Integer btHighThreshold = this.device.getLocationByName("shakeTestTubeCapClipCloseBTHighThreshold");
+            typeCode = btHighThreshold > clipMotorPos ? "0000H" : "0000L";
+            testTubeCapClipMotor.moveTo("shakeTestTubeCapClipOpen");
+            testTubeShakeMoveMotor.reset();
+            testTubeCapClipMotor.moveTo("shakeTestTubeCapClipClose");
+        }
+
+        MdbTestTube testTube = this.testService.testTubeFindByCode(typeCode);
+        if ( null == testTube ) {
+            throw new AppRuntimeException(AppError.TEST_TUBE_RACK_TYPE_NOT_SUPPORTED);
+        }
+        this.mdbTask.tubeType = testTube.key;
+        this.testService.regularTaskUpdate(this.mdbTask);
+    }
 }

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

@@ -2,10 +2,15 @@ package com.dreamworks.boditech.driver.task.step;
 import com.dreamworks.boditech.driver.Device;
 import com.dreamworks.boditech.driver.actuator.ActMotor;
 import com.dreamworks.boditech.driver.actuator.ActuatorModule;
+import com.dreamworks.boditech.driver.consumable.CsmSampleTube;
 import com.dreamworks.boditech.driver.task.Executor;
 import com.dreamworks.boditech.driver.task.Task;
 import com.dreamworks.boditech.driver.task.TaskTest;
 public class StepCapTube extends StepBase {
+    private ActMotor testTubeMoveMotor;
+    private ActMotor testTubeCapClipMotor;
+    private ActMotor testTubeClipMotor;
+
     @Override
     public void execute(Executor executor, Task task) {
         TaskTest taskTest = (TaskTest)task;
@@ -14,15 +19,33 @@ public class StepCapTube extends StepBase {
         }
 
         Device device = executor.getDevice();
-        ActMotor testTubeMoveMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_MOVE_MOTOR);
-        ActMotor testTubeCapClipMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_CAP_CLIP_MOTOR);
-        ActMotor testTubeClipMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_CLIP_MOTOR);
+        this.testTubeMoveMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_MOVE_MOTOR);
+        this.testTubeCapClipMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_CAP_CLIP_MOTOR);
+        this.testTubeClipMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_CLIP_MOTOR);
+
+        String tubeType = taskTest.getSampleTube().type;
+        if (CsmSampleTube.TYPE_BLOOD_TUBE_5ML.equals(tubeType)) {
+            this.capForBloodTube5ml();
+        } else if (CsmSampleTube.TYPE_BLOOD_TUBE_3ML.equals(tubeType)) {
+            this.capForBloodTube3ml();
+        } else {
+            throw new RuntimeException("unknown tube type " + tubeType);
+        }
+    }
+
+    // cap for blood tube 3ml
+    private void capForBloodTube3ml() {
+        // @TODO : 3ml全血试管暂时没法盖试管帽，试管帽夹需要调整角度，但目前无法调整
+        throw new RuntimeException("3ml全血试管暂时没法盖试管帽，试管帽夹需要调整角度，但目前无法调整");
+    }
 
-        testTubeMoveMotor.moveTo("shakeTestTubeMoveCapClip");
-        testTubeCapClipMotor.moveTo("shakeTestTubeCapClipOpen");
-        testTubeMoveMotor.moveTo("shakeTestTubeMoveStandby");
-        testTubeCapClipMotor.moveTo("shakeTestTubeCapClipClose");
-        testTubeClipMotor.rotate(ActMotor.ROTATE_DIRECTION_COUNTER_CLOCKWISE);
-        testTubeClipMotor.stop();
+    // cap for blood tube 5ml
+    private void capForBloodTube5ml() {
+        this.testTubeMoveMotor.moveTo("shakeTestTubeMoveCapClip");
+        this.testTubeCapClipMotor.moveTo("shakeTestTubeCapClipOpen");
+        this.testTubeMoveMotor.moveTo("shakeTestTubeMoveStandby");
+        this.testTubeCapClipMotor.moveTo("shakeTestTubeCapClipClose");
+        this.testTubeClipMotor.rotate(ActMotor.ROTATE_DIRECTION_COUNTER_CLOCKWISE);
+        this.testTubeClipMotor.stop();
     }
 }

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

@@ -1,5 +1,6 @@
 package com.dreamworks.boditech.driver.task.step;
 import com.dreamworks.boditech.driver.Device;
+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;
@@ -50,8 +51,21 @@ public class StepPretreatment extends StepBase {
         }
 
         this.testTubeCapClipMotor.moveTo("shakeTestTubeCapClipOpen");
-        this.testTubeMoveMotor.moveTo("shakeTestTubeMoveCapClip");
-        this.testTubeCapClipMotor.moveTo("shakeTestTubeCapClipClose");
+        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("shakeTestTubeMoveStandby");
 
         // 05. 摇晃

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

@@ -0,0 +1,11 @@
+package com.dreamworks.boditech.entity;
+public class MdbTestTube {
+    // id
+    public Integer id;
+    // key
+    public String key;
+    // name
+    public String name;
+    // code
+    public String code;
+}

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

@@ -0,0 +1,9 @@
+package com.dreamworks.boditech.mapper;
+import com.dreamworks.boditech.entity.MdbTestTube;
+import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Select;
+@Mapper
+public interface TestTubeMapper {
+    @Select("SELECT * FROM bdt_test_tubes WHERE code = #{code}")
+    MdbTestTube findByCode(String code);
+}

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

@@ -38,6 +38,8 @@ public class TestService {
     @Resource
     private ActionLogService actionLog;
     @Resource
+    private TestTubeMapper testTubeMapper;
+    @Resource
     @Lazy
     private DeviceService deviceService;
     // batch id
@@ -412,4 +414,9 @@ public class TestService {
         this.emergencyTestTaskMapper.cancelAllTasks();
         this.testMapper.cancelAllTasks();
     }
+
+    // test tube find by code
+    public MdbTestTube testTubeFindByCode( String code) {
+        return this.testTubeMapper.findByCode(code);
+    }
 }

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

@@ -14,6 +14,7 @@ public enum AppError {
     TEST_TUBE_RACK_FEED_RACK_NOT_FOUND,
     TEST_CARD_BOX_CASE_COVER_NOT_CLOSED,
     INCUBATOR_NO_FREE_SLOT,
+    TEST_TUBE_RACK_TYPE_NOT_SUPPORTED,
 
     // device
     DEVICE_BUSY,