增加任务：复位

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

@@ -1,6 +1,7 @@
 package com.dreamworks.boditech.controller;
 import com.dreamworks.boditech.controller.entity.ApiResponse;
 import com.dreamworks.boditech.driver.task.TaskBatchTubePrepare;
+import com.dreamworks.boditech.driver.task.TaskReset;
 import com.dreamworks.boditech.driver.task.TaskTest;
 import com.dreamworks.boditech.entity.request.test.AppendParam;
 import com.dreamworks.boditech.service.DeviceService;
@@ -19,8 +20,8 @@ public class TestController extends BaseController {
     public ApiResponse append( @RequestBody AppendParam appendParam) {
 //        TaskBatchTubePrepare task = new TaskBatchTubePrepare();
 //        task.setTests(appendParam.tests);
-
-        TaskTest task = new TaskTest();
+//        TaskTest task = new TaskTest();
+        TaskReset task = new TaskReset();
         this.deviceService.taskAppend(task);
         return this.success();
     }

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

@@ -6,13 +6,17 @@ public class Command {
     // command constants
     public static final Integer CMD_MODULE_STOP = 0x0101;
     public static final Integer CMD_MODULE_GET_STATUS = 0x0104;
+    public static final Integer CMD_MODULE_GET_REG = 0x0106;
     public static final Integer CMD_MODULE_READ_IO = 0x0107;
     public static final Integer CMD_MODULE_READ_RAW = 0x0113;
     public static final Integer CMD_MODULE_START = 0x0115;
+    public static final Integer CMD_MOTOR_CALCULATED_POS_BY_MOVE_TO_ZERO = 0x0210;
     public static final Integer CMD_MOTOR_EASY_ROTATE = 0x0211;
     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_XYMOTOR_MOVE_TO = 0x0303;
+    public static final Integer CMD_XYMOTOR_MOVE_TO_ZERO = 0x0304;
     public static final Integer CMD_PIPETTE_CTRL_INIT_DEVICE = 0x0501;
     public static final Integer CMD_PIPETTE_CTRL_MOVE_TO_UL = 0x0503;
 

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

@@ -64,6 +64,8 @@ public class Device {
         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));
+        this.appendActuator(new ActMotor(ActuatorModule.TEST_CARD_FEED_MOTOR, this));
+        this.appendActuator(new ActMotor(ActuatorModule.TEST_CARD_BOX_MOTOR, this));
     }
 
     // append actuator

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

@@ -0,0 +1,5 @@
+package com.dreamworks.boditech.driver;
+public class Register {
+    public static final Integer MODULE_INPUT_STATE = 8;
+    public static final Integer MODULE_LAST_CMD_EXEC_VAL0 = 21;
+}

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

@@ -1,4 +0,0 @@
-package com.dreamworks.boditech.driver;
-public interface Task {
-    public void execute(TaskExecutor executor);
-}

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

@@ -1,4 +1,5 @@
 package com.dreamworks.boditech.driver;
+import com.dreamworks.boditech.driver.task.Task;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import java.util.List;

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

@@ -36,4 +36,12 @@ public class ActArmXY extends ActuatorBase {
         Integer y = this.getDevice().getLocationByName(name + ".y");
         this.moveTo(x, y);
     }
+
+    /**
+     * reset arm xy
+     */
+    public void reset() {
+        this.call(Command.CMD_XYMOTOR_MOVE_TO_ZERO);
+        this.waitForFinish();
+    }
 }

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

@@ -19,29 +19,30 @@ public class ActIncubator extends ActMotor {
         }
     }
 
-    // get slot
-    public boolean hasFreeSlot() {
+    public IncubatorSlot getFreeSlot() {
         for ( int i = 0; i < 20; i++ ) {
             if ( this.slots[i].isFree ) {
-                return true;
+                return this.slots[i];
             }
         }
-        return false;
+        return null;
+    }
+
+    public void lockSlot( int index ) {
+        this.slots[index].isFree = false;
+    }
+
+    public void unlockSlot( int index ) {
+        this.slots[index].isFree = true;
     }
 
-    // move to free position
-    public void moveToFreePosition() {
-        IncubatorSlot slot = null;
+    // get slot
+    public boolean hasFreeSlot() {
         for ( int i = 0; i < 20; i++ ) {
             if ( this.slots[i].isFree ) {
-                slot = this.slots[i];
-                break;
+                return true;
             }
         }
-        if ( slot == null ) {
-            throw new RuntimeException("no free slot");
-        }
-
-        this.moveTo(slot.getLocation());
+        return false;
     }
 }

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

@@ -1,17 +1,39 @@
 package com.dreamworks.boditech.driver.actuator;
 import com.dreamworks.boditech.driver.Command;
 import com.dreamworks.boditech.driver.Device;
+import com.dreamworks.boditech.driver.Register;
+
+import java.nio.ByteBuffer;
+
 public class ActMotor extends ActuatorBase {
     // rotate direction
     public static final int ROTATE_DIRECTION_CLOCKWISE = 1;
     // rotate direction
     public static final int ROTATE_DIRECTION_COUNTER_CLOCKWISE = -1;
+    // point type : start
+    public static final int POINT_START = 0;
+    // point type : end
+    public static final int POINT_END = 1;
 
     // constructor
     public ActMotor(Integer mid, Device device) {
         super(mid, device);
     }
 
+    // reset
+    public void reset() {
+        this.call(Command.CMD_MOTOR_EASY_MOVE_TO_ZERO, -1);
+        this.waitForFinish();
+    }
+
+    // reset and get source location
+    public Integer resetAndGetSourceLocation() {
+        this.call(Command.CMD_MOTOR_CALCULATED_POS_BY_MOVE_TO_ZERO);
+        this.waitForFinish();
+        Integer location = this.getRegister(Register.MODULE_LAST_CMD_EXEC_VAL0);
+        return location;
+    }
+
     // move to given position
     public void moveTo(int position) {
         this.call(Command.CMD_MOTOR_EASY_MOVE_TO, position);
@@ -35,4 +57,9 @@ public class ActMotor extends ActuatorBase {
         this.call(Command.CMD_MOTOR_EASY_ROTATE, direction);
         this.waitForFinish();
     }
+
+    // move to point
+    public void moveToPoint( int pointType ) {
+        // @TODO : 硬件暂时未更新
+    }
 }

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

@@ -74,6 +74,13 @@ public class ActuatorBase implements Actuator {
         return rawText.trim();
     }
 
+    // get register
+    public Integer getRegister( Integer index ) {
+        ByteBuffer response = this.call(Command.CMD_MODULE_GET_REG, index);
+        Integer value = this.getIntegerFromResponse(response, 0);
+        return value;
+    }
+
     // get integer from response
     protected Integer getIntegerFromResponse(ByteBuffer response, Integer index ) {
         response.order(ByteOrder.LITTLE_ENDIAN);

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

@@ -3,6 +3,8 @@ public class ActuatorModule {
     public static Integer ARM_XY = 11;
     public static Integer ARM_Z_MOTOR = 81;
     public static Integer ARM_Z_PIPETTE = 82;
+    public static Integer TEST_CARD_BOX_MOTOR = 21;
+    public static Integer TEST_CARD_FEED_MOTOR = 22;
     public static Integer TEST_TUBE_SHAKING_MOVE_MOTOR = 31;
     public static Integer TEST_TUBE_SHAKING_ROTATE_MOTOR = 32;
     public static Integer TEST_TUBE_SHAKING_CLIP_MOTOR = 33;

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

@@ -0,0 +1,7 @@
+package com.dreamworks.boditech.driver.task;
+
+import com.dreamworks.boditech.driver.TaskExecutor;
+
+public interface Task {
+    public void execute(TaskExecutor executor);
+}

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

@@ -1,6 +1,5 @@
 package com.dreamworks.boditech.driver.task;
 import com.dreamworks.boditech.driver.Device;
-import com.dreamworks.boditech.driver.Task;
 import com.dreamworks.boditech.driver.TaskExecutor;
 import com.dreamworks.boditech.driver.actuator.ActMotor;
 import com.dreamworks.boditech.driver.actuator.ActuatorModule;

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

@@ -1,6 +1,5 @@
 package com.dreamworks.boditech.driver.task;
 import com.dreamworks.boditech.driver.Device;
-import com.dreamworks.boditech.driver.Task;
 import com.dreamworks.boditech.driver.TaskExecutor;
 import com.dreamworks.boditech.driver.actuator.ActCodeScanner;
 import com.dreamworks.boditech.driver.actuator.ActModuleTestTubeRackMovement;

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

@@ -0,0 +1,117 @@
+package com.dreamworks.boditech.driver.task;
+import com.dreamworks.boditech.driver.Device;
+import com.dreamworks.boditech.driver.Register;
+import com.dreamworks.boditech.driver.TaskExecutor;
+import com.dreamworks.boditech.driver.actuator.ActArmXY;
+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 java.util.Objects;
+
+public class TaskReset implements Task {
+    // mode : normal
+    public static final Integer MODE_NORMAL = 0;
+    // mode : error
+    public static final Integer MODE_ERROR = 1;
+
+    // reset mode
+    public Integer mode = MODE_NORMAL;
+
+    @Override
+    public void execute(TaskExecutor executor) {
+        Device device = executor.getDevice();
+
+        //01. 试管夹复位
+        ActMotor testTubeShakingClipMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_CLIP_MOTOR);
+        testTubeShakingClipMotor.reset();
+
+        // 02. 试管夹旋转复位
+        ActMotor testTubeShakingClipRotateMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_ROTATE_MOTOR);
+        testTubeShakingClipRotateMotor.reset();
+
+        // 03. 机械臂Z轴复位
+        ActMotor armZMotor = (ActMotor)device.getActuator(ActuatorModule.ARM_Z_MOTOR);
+        armZMotor.reset();
+
+        // 04. 机械臂XY轴复位
+        ActArmXY armXY = (ActArmXY)device.getActuator(ActuatorModule.ARM_XY);
+        armXY.reset();
+
+        // 错误模式下，可能还有TIP未丢弃
+        if (Objects.equals(this.mode, TaskReset.MODE_ERROR)) {
+            armXY.moveTo("tipDiscardPrepareHole");
+            armZMotor.moveTo("tipDiscardDepth");
+            armXY.moveTo("tipDiscardDrop");
+            armZMotor.reset();
+        }
+
+        // 05. 摇匀电机复位
+        // @TODO : 摇匀电机没有零点，暂时没法复位
+
+        // 06. 试管帽夹复位
+        ActMotor testTubeShakingCapClipMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_CAP_CLIP_MOTOR);
+        testTubeShakingCapClipMotor.moveTo("testTubeShakingCapClipClose");
+
+        // 07. 摇匀升降电机复位
+        // @TODO : 升降电机需要向上复位，但是目前没有更新，所以暂时不复位
+        ActMotor testTubeShakingMoveMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_MOVE_MOTOR);
+        // testTubeShakingMoveMotor.reset();
+
+        if ( Objects.equals(this.mode, TaskReset.MODE_ERROR) ) {
+            // 出错的情况下这个时候可能还存在试管，需要把试管放回到试管架上
+            testTubeShakingMoveMotor.moveTo("testTubeShakingCapPickUp");
+            testTubeShakingCapClipMotor.moveTo("testTubeShakingCapClipOpen");
+            testTubeShakingMoveMotor.moveTo("testTubeShakingUpDownStandBy");
+            testTubeShakingCapClipMotor.moveTo("testTubeShakingCapClipClose");
+        }
+
+        // 08. 试管架电机复位
+        ActMotor testTubeRackMoveMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_RACK_MOVE_MOTOR);
+        testTubeRackMoveMotor.reset();
+        testTubeRackMoveMotor.moveTo("testTubeRackExitPrepare");
+        testTubeRackMoveMotor.moveTo("testTubeRackExit");
+        ActMotor testTubeRackExitMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_RACK_EXIT_MOTOR);
+        testTubeRackExitMotor.moveBy(500);
+        testTubeRackMoveMotor.reset();
+
+        // 09. 板夹仓推杆电机复位
+        ActMotor testCardFeedMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_CARD_FEED_MOTOR);
+        // @TODO : 检查是否存在试管正在被从板夹仓推出
+        // @TODO : 读取试管夹二次验证相机数据，判断是否存在上述情况
+        boolean hasTestCardInFeedRack = true;
+        if ( hasTestCardInFeedRack ) {
+            testCardFeedMotor.moveToPoint(ActMotor.POINT_END);
+        }
+        testCardFeedMotor.reset();
+        testCardFeedMotor.moveTo("testCardFeedStandBy");
+
+        // 10. 板夹仓复位
+        ActMotor testCardBoxMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_CARD_BOX_MOTOR);
+        testCardBoxMotor.reset();
+
+        // 11. 光学扫描电机复位
+        ActMotor analysisScanMotor = (ActMotor)device.getActuator(ActuatorModule.ANALYSIS_SCAN_MOTOR);
+        analysisScanMotor.reset();
+        analysisScanMotor.moveTo("analysisScanMotorStandBy");
+
+        // 11. 光学推杆电机复位
+        ActMotor analysisPushMotor = (ActMotor)device.getActuator(ActuatorModule.ANALYSIS_PUSH_MOTOR);
+        Integer analysisPushMotorInputState = analysisPushMotor.getRegister(Register.MODULE_INPUT_STATE);
+        boolean isAnalysisPushMotorPushing = ((analysisPushMotorInputState >> 1) & 0x01) == 0x00;
+        if ( isAnalysisPushMotorPushing ) {
+            analysisPushMotor.reset();
+            analysisScanMotor.moveTo("analysisScanMotorDropCard");
+            analysisScanMotor.moveTo("analysisScanMotorStandBy");
+            analysisPushMotor.moveTo("analysisPushMotorStandby");
+        }
+
+        // 12. 孵育盘电机复位
+        ActIncubator incubatorMotor = (ActIncubator)device.getActuator(ActuatorModule.INCUBATOR_MOTOR);
+        incubatorMotor.reset();
+        IncubatorSlot incubatorSlot = incubatorMotor.getFreeSlot();
+        incubatorMotor.moveTo(incubatorSlot.getExitLocation());
+        analysisPushMotor.moveTo("analysisPushMotorStandby");
+    }
+}

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

@@ -1,5 +1,4 @@
 package com.dreamworks.boditech.driver.task;
-import com.dreamworks.boditech.driver.Task;
 import com.dreamworks.boditech.driver.TaskExecutor;
 import com.dreamworks.boditech.driver.TestStep;
 import com.dreamworks.boditech.driver.consumable.CsmBufferTubeA;

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

@@ -1,5 +1,5 @@
 package com.dreamworks.boditech.driver.task.step;
-import com.dreamworks.boditech.driver.Task;
+import com.dreamworks.boditech.driver.task.Task;
 import com.dreamworks.boditech.driver.TaskExecutor;
 public interface Step {
     // execute step

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

@@ -1,6 +1,6 @@
 package com.dreamworks.boditech.driver.task.step;
 import com.dreamworks.boditech.driver.Device;
-import com.dreamworks.boditech.driver.Task;
+import com.dreamworks.boditech.driver.task.Task;
 import com.dreamworks.boditech.driver.TaskExecutor;
 import com.dreamworks.boditech.driver.actuator.ActAnalysisScanner;
 import com.dreamworks.boditech.driver.actuator.ActIncubator;

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

@@ -1,6 +1,6 @@
 package com.dreamworks.boditech.driver.task.step;
 import com.dreamworks.boditech.driver.Device;
-import com.dreamworks.boditech.driver.Task;
+import com.dreamworks.boditech.driver.task.Task;
 import com.dreamworks.boditech.driver.TaskExecutor;
 import com.dreamworks.boditech.driver.actuator.ActArmXY;
 import com.dreamworks.boditech.driver.actuator.ActMotor;

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

@@ -1,6 +1,6 @@
 package com.dreamworks.boditech.driver.task.step;
 import com.dreamworks.boditech.driver.Device;
-import com.dreamworks.boditech.driver.Task;
+import com.dreamworks.boditech.driver.task.Task;
 import com.dreamworks.boditech.driver.TaskExecutor;
 import com.dreamworks.boditech.driver.actuator.ActArmXY;
 import com.dreamworks.boditech.driver.actuator.ActMotor;

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

@@ -1,6 +1,6 @@
 package com.dreamworks.boditech.driver.task.step;
 import com.dreamworks.boditech.driver.Device;
-import com.dreamworks.boditech.driver.Task;
+import com.dreamworks.boditech.driver.task.Task;
 import com.dreamworks.boditech.driver.TaskExecutor;
 import com.dreamworks.boditech.driver.actuator.ActMotor;
 import com.dreamworks.boditech.driver.actuator.ActuatorModule;

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

@@ -2,6 +2,7 @@ package com.dreamworks.boditech.service;
 import com.dreamworks.boditech.driver.*;
 import com.dreamworks.boditech.driver.consumable.CsmLargeBufferTube;
 import com.dreamworks.boditech.driver.consumable.CsmPipetteTip;
+import com.dreamworks.boditech.driver.task.Task;
 import jakarta.annotation.Resource;
 import org.springframework.stereotype.Service;
 
@@ -26,6 +27,11 @@ public class DeviceService {
     // task executor thread
     private Thread taskExecutorThread;
 
+    // reset to initial state
+    public void reset() {
+
+    }
+
     // start
     public void start() {
         this.device.appendPipetteTip(0, 10);