小缓冲液整理

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

@@ -1,7 +1,7 @@
 package com.dreamworks.boditech.controller;
 import com.dreamworks.boditech.controller.entity.ApiResponse;
-import com.dreamworks.boditech.driver.consumable.CsmLargeBufferTube;
 import com.dreamworks.boditech.driver.consumable.CsmBufferTube;
+import com.dreamworks.boditech.driver.consumable.CsmLargeBufferTube;
 import com.dreamworks.boditech.driver.entity.ParamBufferTubeUpdateByBox;
 import com.dreamworks.boditech.driver.entity.ParamLargeBufferTubeUpdate;
 import com.dreamworks.boditech.driver.entity.ParamPipetteTipUpdate;

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

@@ -1,11 +1,63 @@
 package com.dreamworks.boditech.driver.consumable;
-public interface CsmBufferTube {
+import com.dreamworks.boditech.driver.Device;
+import java.util.Objects;
+public class CsmBufferTube {
+    // tube type : db rack cover 500μl
+    public static final String COVER_TYPE_500 = "DBRC500";
+    // tube type : db rack cover 150μl
+    public static final String COVER_TYPE_150 = "DBRC150";
+
+    // project name
+    public String projectName;
+    // area index
+    public Integer areaIndex;
+    // position
+    public Integer position;
+    // tube type
+    public String coverType = CsmBufferTube.COVER_TYPE_500;
+    // manager
+    private final CsmBufferTubeManager manager;
+
+    // constructor
+    public CsmBufferTube( CsmBufferTubeManager manager ) {
+        this.manager = manager;
+    }
+
     // get location x
-    public Integer getLocationX();
+    public Integer getLocationX() {
+        Device device = this.manager.getDevice();
+        String keyPrefix = "bufferTube" + this.coverType;
+        String lineKeyPrefix = keyPrefix + "Line" + (Integer.toString(this.areaIndex / 3));
+        Integer areaStartX = device.getLocationByName(lineKeyPrefix+"Start.x");
+        Integer areaDistanceX = device.getLocationByName(keyPrefix+"BoxDistance");
+        Integer tubeDistanceX = device.getLocationByName(keyPrefix+"TubeDistanceX");
+        return areaStartX - areaDistanceX * (this.areaIndex%3) - tubeDistanceX * (this.position % 5);
+    }
 
     // get location y
-    public Integer getLocationY();
+    public Integer getLocationY() {
+        Device device = this.manager.getDevice();
+        String keyPrefix = "bufferTube" + this.coverType;
+        String lineKeyPrefix = keyPrefix + "Line" + (Integer.valueOf(this.areaIndex / 3).toString());
+        Integer areaStartY = device.getLocationByName(lineKeyPrefix+"Start.y");
+        Integer tubeDistanceY = device.getLocationByName(keyPrefix+"TubeDistanceY");
+        return areaStartY - tubeDistanceY * (this.position / 5);
+    }
 
-    // get location z
-    public Integer getLocationZ();
+    // get puncture depth
+    public Integer getPunctureDepth() {
+        Device device = this.manager.getDevice();
+        if (Objects.equals(this.coverType, CsmBufferTube.COVER_TYPE_500)) {
+            return device.getLocationByName("bufferTubeDBRC500PunctureDepth");
+        } else if (Objects.equals(this.coverType, CsmBufferTube.COVER_TYPE_150)) {
+            return device.getLocationByName("bufferTubeDBRC150PunctureDepth");
+        } else {
+            throw new RuntimeException("unknown cover type " + this.coverType);
+        }
+    }
+
+    public Integer getLocationZ() {
+        // @TODO : 这里没法判断是那种盖子，所以都做 500μl 处理
+        return 0;
+    }
 }

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

@@ -1,37 +0,0 @@
-package com.dreamworks.boditech.driver.consumable;
-public class CsmBufferTubeA implements CsmBufferTube {
-    // project name
-    public String projectName;
-    // area index
-    public Integer areaIndex;
-    // position
-    public Integer position;
-    // manager
-    private final CsmBufferTubeManager manager;
-
-    // constructor
-    public CsmBufferTubeA( CsmBufferTubeManager manager ) {
-        this.manager = manager;
-    }
-
-    // get location x
-    public Integer getLocationX() {
-        Integer areaStartX = this.manager.getDevice().getLocationByName("bufferTubeAStart.x");
-        Integer areaDistanceX = this.manager.getDevice().getLocationByName("bufferTubeABoxDistance");
-        Integer tubeDistanceX = this.manager.getDevice().getLocationByName("bufferTubeATubeDistanceX");
-        return areaStartX - areaDistanceX * this.areaIndex - tubeDistanceX * (this.position % 5);
-    }
-
-    // get location y
-    public Integer getLocationY() {
-        Integer areaStartY = this.manager.getDevice().getLocationByName("bufferTubeAStart.y");
-        Integer tubeDistanceY = this.manager.getDevice().getLocationByName("bufferTubeATubeDistanceY");
-        return areaStartY - tubeDistanceY * (this.position / 5);
-    }
-
-    // get location z
-    public Integer getLocationZ() {
-        // @TODO : 需要根据探测距离计算出z坐标
-        return 850;
-    }
-}

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

@@ -1,37 +0,0 @@
-package com.dreamworks.boditech.driver.consumable;
-public class CsmBufferTubeB implements CsmBufferTube {
-    // project name
-    public String projectName;
-    // area index
-    public Integer areaIndex;
-    // position
-    public Integer position;
-    // manager
-    private final CsmBufferTubeManager manager;
-
-    // constructor
-    public CsmBufferTubeB( CsmBufferTubeManager manager ) {
-        this.manager = manager;
-    }
-
-    // get location x
-    public Integer getLocationX() {
-        Integer areaStartX = this.manager.getDevice().getLocationByName("bufferTubeBStart.x");
-        Integer areaDistanceX = this.manager.getDevice().getLocationByName("bufferTubeBBoxDistance");
-        Integer tubeDistanceX = this.manager.getDevice().getLocationByName("bufferTubeBTubeDistanceX");
-        return areaStartX - areaDistanceX * this.areaIndex - tubeDistanceX * (this.position % 5);
-    }
-
-    // get location y
-    public Integer getLocationY() {
-        Integer areaStartY = this.manager.getDevice().getLocationByName("bufferTubeBStart.y");
-        Integer tubeDistanceY = this.manager.getDevice().getLocationByName("bufferTubeBTubeDistanceY");
-        return areaStartY - tubeDistanceY * (this.position / 5);
-    }
-
-    // get location z
-    public Integer getLocationZ() {
-        // @TODO : 需要根据探测距离计算出z坐标
-        return 850;
-    }
-}

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

@@ -7,10 +7,8 @@ import java.util.List;
 public class CsmBufferTubeManager {
     // device instance
     private final Device device;
-    // list of buffer tube A
-    private final List<CsmBufferTubeA> bufferTubeAList = new ArrayList<>();
-    // list of buffer tube B
-    private final List<CsmBufferTubeB> bufferTubeBList = new ArrayList<>();
+    // list of buffer tube
+    private final List<CsmBufferTube> bufferTubeList = new ArrayList<>();
 
     // constructor
     public CsmBufferTubeManager(Device device) {
@@ -24,54 +22,23 @@ public class CsmBufferTubeManager {
 
     // tube alloc by project name
     public CsmBufferTube tubeAllocByProjectName(String projectName) {
-        return this.tubeAAllocByProjectName(projectName);
-    }
-
-
-
-
-
-
-
-
-
-    // get all buffer tube A
-    public List<CsmBufferTubeA> getAllA() {
-        return this.bufferTubeAList;
-    }
-
-    // get all buffer tube B
-    public List<CsmBufferTubeB> getAllB() {
-        return this.bufferTubeBList;
-    }
-
-    // get buffer tube A
-    // @DEPRECATED
-    public CsmBufferTubeA tubeAAllocByProjectName( String projectName ) {
-        for (CsmBufferTubeA tube : this.bufferTubeAList) {
+        for (CsmBufferTube tube : this.bufferTubeList) {
             if (!tube.projectName.equals(projectName)) {
                 continue;
             }
-            this.bufferTubeAList.remove(tube);
+            this.bufferTubeList.remove(tube);
             return tube;
         }
-        throw new RuntimeException("no buffer tube A for project " + projectName);
+        throw new RuntimeException("no buffer tube for project " + projectName);
     }
 
-    // get buffer tube B
-    public CsmBufferTubeB tubeBAllocByProjectName( String projectName ) {
-        for (CsmBufferTubeB tube : this.bufferTubeBList) {
-            if (!tube.projectName.equals(projectName)) {
-                continue;
-            }
-            this.bufferTubeBList.remove(tube);
-            return tube;
-        }
-        throw new RuntimeException("no buffer tube B for project " + projectName);
+    // get all buffer tube A
+    public List<CsmBufferTube> getAll() {
+        return this.bufferTubeList;
     }
 
     // append buffer tube A
-    public void appendAByCode( Integer areaIndex, String code ) {
+    public void appendByCode( Integer areaIndex, String code ) {
         // @TODO : 由于缺少 code 格式，所以都做 "hsCRP" 项目处理
         String projectName = "hsCRP";
         Project project = this.device.projectService.findByName(projectName);
@@ -80,78 +47,32 @@ public class CsmBufferTubeManager {
         }
 
         // remove all buffer tube A with matched zoneIndex
-        this.bufferTubeAList.removeIf(bufferTubeA -> bufferTubeA.areaIndex.equals(areaIndex));
+        this.bufferTubeList.removeIf(bufferTubeA -> bufferTubeA.areaIndex.equals(areaIndex));
 
         for ( int i=0; i<25; i++ ) {
             // append new buffer tube A
-            CsmBufferTubeA bufferTubeA = new CsmBufferTubeA(this);
-            bufferTubeA.areaIndex = areaIndex;
-            bufferTubeA.position = i;
-            bufferTubeA.projectName = project.name;
-            this.bufferTubeAList.add(bufferTubeA);
-        }
-    }
-
-    // append buffer tube B
-    public void appendBByCode( Integer areaIndex, String code ) {
-        // @TODO : 由于缺少 code 格式，所以都做 "hsCRP" 项目处理
-        String projectName = "hsCRP";
-        Project project = this.device.projectService.findByName(projectName);
-        if ( null == project ) {
-            throw new RuntimeException("project not found");
-        }
-
-        // remove all buffer tube B with matched zoneIndex
-        this.bufferTubeBList.removeIf(bufferTubeB -> bufferTubeB.areaIndex.equals(areaIndex));
-
-        for ( int i=0; i<25; i++ ) {
-            // append new buffer tube B
-            CsmBufferTubeB bufferTubeB = new CsmBufferTubeB(this);
-            bufferTubeB.areaIndex = areaIndex;
-            bufferTubeB.position = i;
-            bufferTubeB.projectName = project.name;
-            this.bufferTubeBList.add(bufferTubeB);
+            CsmBufferTube bufferTube = new CsmBufferTube(this);
+            bufferTube.areaIndex = areaIndex;
+            bufferTube.position = i;
+            bufferTube.projectName = project.name;
+            // @TODO : 这里没法判断是那种盖子，所以都做 500μl 处理
+            bufferTube.coverType = CsmBufferTube.COVER_TYPE_150;
+            this.bufferTubeList.add(bufferTube);
         }
     }
 
     // update by box
     public void updateByBox(ParamBufferTubeUpdateByBox param ) {
-        if ( param.type.equals("A") ) {
-            this.updateAByBox(param);
-        } else if ( param.type.equals("B") ) {
-            this.updateBByBox(param);
-        } else {
-            throw new RuntimeException("unknown buffer tube type");
-        }
-    }
-
-    // update buffer tube B by box
-    private void updateBByBox( ParamBufferTubeUpdateByBox param ) {
         // remove all buffer tube B with matched zoneIndex
-        this.bufferTubeBList.removeIf(bufferTubeB -> bufferTubeB.areaIndex.equals(param.areaIndex));
+        this.bufferTubeList.removeIf(bufferTube -> bufferTube.areaIndex.equals(param.areaIndex));
 
         for ( int i=0; i< param.amount; i++ ) {
-            // append new buffer tube B
-            CsmBufferTubeB bufferTubeB = new CsmBufferTubeB(this);
-            bufferTubeB.areaIndex = param.areaIndex;
-            bufferTubeB.position = i;
-            bufferTubeB.projectName = param.projectName;
-            this.bufferTubeBList.add(bufferTubeB);
-        }
-    }
-
-    // update buffer tube A by box
-    private void updateAByBox( ParamBufferTubeUpdateByBox param ) {
-        // remove all buffer tube A with matched zoneIndex
-        this.bufferTubeAList.removeIf(bufferTubeA -> bufferTubeA.areaIndex.equals(param.areaIndex));
-
-        for ( int i=0; i< param.amount; i++ ) {
-            // append new buffer tube A
-            CsmBufferTubeA bufferTubeA = new CsmBufferTubeA(this);
-            bufferTubeA.areaIndex = param.areaIndex;
-            bufferTubeA.position = i;
-            bufferTubeA.projectName = param.projectName;
-            this.bufferTubeAList.add(bufferTubeA);
+            CsmBufferTube bufferTube = new CsmBufferTube(this);
+            bufferTube.coverType = param.coverType;
+            bufferTube.areaIndex = param.areaIndex;
+            bufferTube.position = i;
+            bufferTube.projectName = param.projectName;
+            this.bufferTubeList.add(bufferTube);
         }
     }
 }

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

@@ -1,7 +1,7 @@
 package com.dreamworks.boditech.driver.entity;
 public class ParamBufferTubeUpdateByBox {
     // type
-    public String type;
+    public String coverType;
     // area index
     public Integer areaIndex;
     // project name

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

@@ -1,9 +1,6 @@
 package com.dreamworks.boditech.driver.task;
 import com.dreamworks.boditech.driver.Device;
-import com.dreamworks.boditech.driver.actuator.ActCodeScanner;
-import com.dreamworks.boditech.driver.actuator.ActModuleTestTubeRackMovement;
-import com.dreamworks.boditech.driver.actuator.ActuatorModule;
-import com.dreamworks.boditech.driver.actuator.ActMotor;
+import com.dreamworks.boditech.driver.actuator.*;
 import com.dreamworks.boditech.driver.entity.TaskBatchTubeTestInfo;
 import java.util.List;
 import java.util.Objects;

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

@@ -10,29 +10,29 @@ public class TaskBufferTubeLoad extends TaskBase {
         ActArmXY armXY = (ActArmXY)device.getActuator(ActuatorModule.ARM_XY);
         ActCodeScanner codeScanner = (ActCodeScanner)device.getActuator(ActuatorModule.ARM_Z_SCANNER);
 
-        Integer scanStartX = device.getLocationByName("bufferTubeAScanStart.x");
-        Integer scanStartY = device.getLocationByName("bufferTubeAScanStart.y");
+        Integer scanStartX = device.getLocationByName("bufferTubeLineOneScanStart.x");
+        Integer scanStartY = device.getLocationByName("bufferTubeLineOneScanStart.y");
 
-        // buffer tube A
+        // buffer tube line one
         for ( int i=0; i<3; i++ ) {
             armXY.moveTo(scanStartX - i * 1200, scanStartY);
             String code = codeScanner.scan(500);
             if ( "".equals(code) ) {
                 continue ;
             }
-            device.bufferTubes.appendAByCode(i, code);
+            device.bufferTubes.appendByCode(i, code);
         }
 
-        // buffer tube B
-        scanStartX = device.getLocationByName("bufferTubeBScanStart.x");
-        scanStartY = device.getLocationByName("bufferTubeBScanStart.y");
+        // buffer tube line two
+        scanStartX = device.getLocationByName("bufferTubeLineTwoScanStart.x");
+        scanStartY = device.getLocationByName("bufferTubeLineTwoScanStart.y");
         for ( int i=0; i<3; i++ ) {
             armXY.moveTo(scanStartX - i * 1200, scanStartY);
             String code = codeScanner.scan(500);
             if ( "".equals(code) ) {
                 continue ;
             }
-            device.bufferTubes.appendBByCode(i, code);
+            device.bufferTubes.appendByCode(i+3, code);
         }
 
         armXY.reset();

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

@@ -15,4 +15,8 @@ abstract public class StepBase implements Step {
     public void postExecute() {
         // nothing to do here as default
     }
+
+    public boolean isExecutable() {
+        return true;
+    }
 }

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

@@ -1,13 +1,12 @@
 package com.dreamworks.boditech.driver.task.step;
 import com.dreamworks.boditech.driver.Device;
 import com.dreamworks.boditech.driver.actuator.ActPipette;
+import com.dreamworks.boditech.driver.consumable.CsmBufferTube;
 import com.dreamworks.boditech.driver.task.Task;
 import com.dreamworks.boditech.driver.task.Executor;
 import com.dreamworks.boditech.driver.actuator.ActArmXY;
 import com.dreamworks.boditech.driver.actuator.ActMotor;
 import com.dreamworks.boditech.driver.actuator.ActuatorModule;
-import com.dreamworks.boditech.driver.consumable.CsmBufferTubeA;
-import com.dreamworks.boditech.driver.consumable.CsmBufferTubeB;
 import com.dreamworks.boditech.driver.consumable.CsmPipetteTip;
 import com.dreamworks.boditech.driver.task.TaskTest;
 import com.fasterxml.jackson.annotation.JsonProperty;
@@ -31,21 +30,11 @@ public class StepPuncture extends StepBase {
         pipette.useTip(tip);
 
         // 04. 移动到穿刺区域
-        Integer punctureDepth = 0;
-        if ( "A".equals(this.tubeType) ) {
-            CsmBufferTubeA tube = device.bufferTubes.tubeAAllocByProjectName(taskTest.getProjectName());
-            armXY.moveTo(tube.getLocationX(), tube.getLocationY());
-            punctureDepth = device.getLocationByName("bufferTubeAPunctureDepth");
-        } else if ( "B".equals(this.tubeType) ) {
-            CsmBufferTubeB tube = device.bufferTubes.tubeBAllocByProjectName(taskTest.getProjectName());
-            armXY.moveTo(tube.getLocationX(), tube.getLocationY());
-            punctureDepth = device.getLocationByName("bufferTubeBPunctureDepth");
-        } else {
-            throw new RuntimeException("unknown tube type " + this.tubeType);
-        }
+        CsmBufferTube bufferTube = taskTest.getReactionTube();
+        armXY.moveTo(bufferTube.getLocationX(), bufferTube.getLocationY());
 
         // 05. 下降到穿刺区域
-        armZMotor.moveTo(punctureDepth);
+        armZMotor.moveTo(bufferTube.getPunctureDepth());
 
         // 06. 上升到准备区域
         armZMotor.moveTo(0);

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

@@ -57,18 +57,7 @@ public class DeviceService {
     public List<CsmBufferTube> bufferTubeLoad() {
         TaskBufferTubeLoad task = new TaskBufferTubeLoad();
         Executor.executeTask(this.device, task);
-        List<CsmBufferTube> list = new ArrayList<>();
-
-        List<CsmBufferTubeA> aList = this.device.bufferTubes.getAllA();
-        for ( CsmBufferTubeA a : aList ) {
-            list.add((CsmBufferTube)a);
-        }
-
-        List<CsmBufferTubeB> bList = this.device.bufferTubes.getAllB();
-        for ( CsmBufferTubeB b : bList ) {
-            list.add((CsmBufferTube)b);
-        }
-        return list;
+        return this.device.bufferTubes.getAll();
     }
 
     // update buffer tubes by box
@@ -120,32 +109,18 @@ public class DeviceService {
         status.put("largeBufferTubes", largeBufferTubes);
 
         // buffer tube area
-        BufferTubeArea[] bufferTubeAAreas = new BufferTubeArea[3];
-        for ( int i=0; i<bufferTubeAAreas.length; i++ ) {
-            bufferTubeAAreas[i] = new BufferTubeArea();
-        }
-        List<CsmBufferTubeA> bufferTubeAList = this.device.bufferTubes.getAllA();
-        for ( CsmBufferTubeA bufferTubeA : bufferTubeAList ) {
-            Integer index = bufferTubeA.areaIndex;
-            bufferTubeAAreas[index].areaIndex = index;
-            bufferTubeAAreas[index].amount ++;
-            bufferTubeAAreas[index].projectName = bufferTubeA.projectName;
-        }
-        status.put("bufferTubeAAreas", bufferTubeAAreas);
-
-        // buffer tube area
-        BufferTubeArea[] bufferTubeBAreas = new BufferTubeArea[3];
-        for ( int i=0; i<bufferTubeBAreas.length; i++ ) {
-            bufferTubeBAreas[i] = new BufferTubeArea();
-        }
-        List<CsmBufferTubeB> bufferTubeBList = this.device.bufferTubes.getAllB();
-        for ( CsmBufferTubeB bufferTubeB : bufferTubeBList ) {
-            Integer index = bufferTubeB.areaIndex;
-            bufferTubeBAreas[index].areaIndex = index;
-            bufferTubeBAreas[index].amount ++;
-            bufferTubeBAreas[index].projectName = bufferTubeB.projectName;
-        }
-        status.put("bufferTubeBAreas", bufferTubeBAreas);
+        BufferTubeArea[] bufferTubeAreas = new BufferTubeArea[6];
+        for ( int i=0; i<bufferTubeAreas.length; i++ ) {
+            bufferTubeAreas[i] = new BufferTubeArea();
+        }
+        List<CsmBufferTube> bufferTubeList = this.device.bufferTubes.getAll();
+        for ( CsmBufferTube bufferTube : bufferTubeList ) {
+            Integer index = bufferTube.areaIndex;
+            bufferTubeAreas[index].areaIndex = index;
+            bufferTubeAreas[index].amount ++;
+            bufferTubeAreas[index].projectName = bufferTube.projectName;
+        }
+        status.put("bufferTubeAreas", bufferTubeAreas);
 
         return status;
     }