~~

src/main/java/com/iflytop/digester/StartResetTaskThread.java

@@ -0,0 +1,248 @@
+package com.iflytop.digester;
+import com.iflytop.digester.deviceinstance.Device;
+import com.iflytop.digester.underframework.dao.model.UfMdbRuntimeVariable;
+public class StartResetTaskThread extends Thread {
+    // 是否需要放置异常处理试管架
+    private Boolean isErrorTubeRackRequired = true;
+
+    @Override
+    public void run() {
+        var device = Device.getInstance();
+        device.setStatus("preparing");
+        this.setProgressMessage("设备初始化...");
+
+        try {
+            Thread.sleep(5000);
+        } catch (InterruptedException e) {
+            throw new RuntimeException(e);
+        }
+
+//        this.getDevice().getIO().setValue("LightRed", 1);
+//
+//        this.setProgressMessage("设备初始化 : 关闭设备门");
+//        DiActMotor doorMotor = this.getActuator(MyDevice.ACT_DOOR_MOTOR, DiActMotor.class);
+//        doorMotor.setEnable(true);
+//        MoveDoorClose.execute(this.getDevice());
+//
+//        this.setProgressMessage("设备初始化 : 加液臂复位");
+//        DiActMotor liquidMotor = this.getActuator(MyDevice.ACT_LIQUID_MOTOR, DiActMotor.class);
+//        liquidMotor.setEnable(true);
+//        liquidMotor.reset();
+//        liquidMotor.moveTo("LiquidArmStandby");
+//
+//        this.setProgressMessage("设备初始化 : 关闭夹爪");
+//        DiActServo transferClipServo = this.getActuator(MyDevice.ACT_TRANSFER_CLIP_SERVO, DiActServo.class);
+//        transferClipServo.setEnable(true);
+//        transferClipServo.moveTo("TransClipServoClose");
+//
+//        this.setProgressMessage("设备初始化 : 搬运机械臂上下移动复位");
+//        DiActMotor transUdMotor = this.getActuator(MyDevice.ACT_TRANSFER_UD_MOTOR, DiActMotor.class);
+//        transUdMotor.setEnable(true);
+//        transUdMotor.reset();
+//        transUdMotor.moveTo("TransUdMotorStandby");
+//
+//        this.setProgressMessage("设备初始化 : 搬运机械臂左右移动复位");
+//        DiActMotor transLrMotor = this.getActuator(MyDevice.ACT_TRANSFER_LR_MOTOR, DiActMotor.class);
+//        transLrMotor.setEnable(true);
+//        transLrMotor.reset();
+//        transLrMotor.setMoveOffset("TransLrMotorGlobalOffset");
+//        transLrMotor.moveTo("TransLrMotorStandby");
+//
+//        // @TODO : http://127.0.0.1:5566/issues/39
+//        this.setProgressMessage("设备初始化 : 加液转盘复位");
+//        DiActMotor liquidPlateMotor = this.getActuator(MyDevice.ACT_LIQUID_PLATE_MOTOR, DiActMotor.class);
+//        liquidPlateMotor.setEnable(true);
+//        liquidPlateMotor.reset();
+//
+//        // @TODO : http://127.0.0.1:5566/issues/40
+//        this.setProgressMessage("设备初始化 : 加热盘转盘复位");
+//        DiActMotor heatPlateMotor = this.getActuator(MyDevice.ACT_HEAT_PLATE_MOTOR, DiActMotor.class);
+//        heatPlateMotor.setEnable(true);
+//        heatPlateMotor.reset();
+//        heatPlateMotor.moveTo("HeatPlateStandby");
+//
+//        this.setupHeatingSlotCover();
+//        this.setupPeristalticPump();
+//
+//        this.setProgressMessage("设备初始化 : 相机");
+//        DiActCameraBasler camera = this.getActuator(MyDevice.ACT_CAMERA, DiActCameraBasler.class);
+//        camera.setEnable(true);
+//
+//        this.setProgressMessage("设备初始化 : 定时刷新加热盘温度");
+//        var slotMan = this.getResourceManager(ResHeatingTubeRackSlotManager.class);
+//        slotMan.startTemperatureRefresh();
+//
+//        if ( this.isErrorTubeRackRequired ) {
+//            this.setProgressMessage("设备初始化 : 放入异常处理试管架");
+//            doorMotor.reset(); // 打开设备门
+//            DiMdbNotification.taskAction(this, "TaskStartResetErrorTubeRackPutIn");
+//            this.waitAction("TaskStartResetErrorTubeRackPutIn");
+//        }
+//
+//        this.getDevice().getIO().setValue("LightRed", 0);
+//        this.getDevice().getIO().setValue("LightGreen", 1);
+
+        this.setProgressMessage("设备初始化 : 完成");
+        device.setStatus("ready");
+        UfMdbRuntimeVariable.setString("设备已就绪","device.message");
+    }
+//
+//    // 设置蠕动泵
+//    private void setupPeristalticPump() {
+//        int peristalticPumpCount = 1;
+//        var actuators = this.getDevice().getActuators().getAll();
+//        for ( var actuator : actuators ) {
+//            if (actuator instanceof DiActPeristalticPump pump) {
+//                this.setProgressMessage("设备初始化 : 蠕动泵复位 " + peristalticPumpCount + "/16");
+//                pump.setEnable(true);
+//                peristalticPumpCount++;
+//            }
+//        }
+//
+//        Boolean enableSetup = this.getDevice().getEnv().getProperty("app.liquidPeristalticPumpPipeSetupEnable",Boolean.class);
+//        assert enableSetup != null;
+//        if ( !enableSetup ) {
+//            return ;
+//        }
+//
+//        DiActMotor liquidPlateMotor = this.getActuator(MyDevice.ACT_LIQUID_PLATE_MOTOR, DiActMotor.class);
+//        DiActMotor liquidMotor = this.getActuator(MyDevice.ACT_LIQUID_MOTOR, DiActMotor.class);
+//
+//        this.setProgressMessage("设备初始化 : 初始化加液管路");
+//        MoveDoorOpen.execute(this.getDevice());
+//        DiMdbNotification.taskAction(this, "TaskStartResetPumpPipeSetupTubeRankPutIn");
+//        this.waitAction("TaskStartResetPumpPipeSetupTubeRankPutIn");
+//        MoveDoorClose.execute(this.getDevice());
+//
+//        // 加液管充满
+//        for ( int i=0; i<8; i++ ) {
+//            this.setProgressMessage("设备初始化 : 初始化加液管路 " + (i+1) + "/8");
+//            if ( 0 == i%2 ) {
+//                liquidMotor.moveTo("LiquidArmPumpGroupOut");
+//                liquidPlateMotor.moveTo("LiquidPlateSlotPumpOutGroup",i/2);
+//            } else {
+//                liquidMotor.moveTo("LiquidArmPumpGroupIn");
+//                liquidPlateMotor.moveTo("LiquidPlateSlotPumpInGroup", i/2);
+//            }
+//
+//            var pump0 = this.getActuator("LiquidPeristalticPump_"+i+"_0", DiActPeristalticPump.class);
+//            var pump1 = this.getActuator("LiquidPeristalticPump_"+i+"_1", DiActPeristalticPump.class);
+//            var pipeVolumeCircle0 = pump1.getLocationValue("LiquidPeristalticPumpPipeVolumeCircle",i, 0);
+//            var pipeVolumeCircle1 = pump1.getLocationValue("LiquidPeristalticPumpPipeVolumeCircle",i, 1);
+//            this.batchExecute(List.of(
+//                    () -> pump0.moveBy(pipeVolumeCircle0),
+//                    () -> pump1.moveBy(pipeVolumeCircle1)
+//            ));
+//            pump0.retract();
+//            pump1.retract();
+//        }
+//
+//        liquidMotor.moveTo("LiquidArmStandby");
+//
+//        // 加液管充满, 需要取出试管架
+//        MoveDoorOpen.execute(this.getDevice());
+//        DiMdbNotification.taskAction(this, "TaskStartResetPumpPipeSetupTubeRankTakeOut");
+//        this.waitAction("TaskStartResetPumpPipeSetupTubeRankTakeOut");
+//        MoveDoorClose.execute(this.getDevice());
+//    }
+//
+//    /**
+//     * 清理试管架
+//     * @issue : <a href="http://127.0.0.1:5566/issues/85">无法获取加液位置是否存在试管架</a>
+//     */
+//    private void setupHeatingSlotCover() {
+//        boolean isDoorOpen = false;
+//        Integer errorSlotIndex = this.getDevice().getEnv().getProperty("app.errorSlotIndex",Integer.class);
+//
+//        for ( int i=0; i<5; i++ ) {
+//            this.setProgressMessage("设备初始化 : 检查试管架 " + (i+1) + "/5");
+//            String key = "HeatingPlateMotorSlotCover_" + i;
+//            DiActServo heatSlotCoverServo = this.getActuator(key, DiActServo.class);
+//            heatSlotCoverServo.setEnable(true);
+//            var currentPos = heatSlotCoverServo.getCurrentPos();
+//            LOG.info("HeatingPlateMotorSlotCover #{} : current pos = {}", i, currentPos);
+//
+//            // 如果是空的，则初始化位置后继续下一步
+//            var rackExistsPos = heatSlotCoverServo.getLocationValue("HeatingPlateMotorSlotCoverRackExists");
+//            if ( currentPos > rackExistsPos ) {
+//                heatSlotCoverServo.setCurrentPosAsMiddle();
+//                continue;
+//            }
+//
+//            // 如果是空试管架， 又是异常区域则不处理， 因为异常区域始终要有个试管架
+//            var emptyRackExistsPos = heatSlotCoverServo.getLocationValue("HeatingPlateMotorSlotCoverEmptyRackExists");
+//            if ( currentPos > emptyRackExistsPos && null != errorSlotIndex && errorSlotIndex == i ) { // 异常区域存在空试管架
+//                this.isErrorTubeRackRequired = false;
+//                continue;
+//            }
+//
+//            var moveToLiquidPlate = new MoveMoveTubeRackFromHeatPlateToLiquidPlate();
+//            moveToLiquidPlate.setDevice(this.getDevice());
+//            moveToLiquidPlate.slotIndex = i;
+//            moveToLiquidPlate.updateSlotStatus = false;
+//            moveToLiquidPlate.run();
+//
+//            if ( !isDoorOpen ) {
+//                MoveDoorOpen.execute(this.getDevice());
+//                isDoorOpen = true;
+//            }
+//
+//            heatSlotCoverServo.moveTo("HeatingPlateMotorSlotCoverEmpty");
+//            heatSlotCoverServo.setEnable(false);
+//
+//            // 等待取出试管架
+//            DiMdbNotification.taskAction(this, "TaskStartResetErrorTubeRackTakeOut");
+//            this.waitAction("TaskStartResetErrorTubeRackTakeOut");
+//            LOG.info("HeatingPlateMotorSlotCover #{} : take out", i);
+//
+//            heatSlotCoverServo.setEnable(true);
+//            heatSlotCoverServo.setCurrentPosAsMiddle();
+//        }
+//
+//        if ( isDoorOpen ) {
+//            MoveDoorClose.execute(this.getDevice());
+//        }
+//    }
+//
+//    // 异常处理位试管架取出
+//    public void actionErrorTubeRackTakeOut() {
+//        var action = this.getAction("TaskStartResetErrorTubeRackTakeOut");
+//        action.finish();
+//    }
+//
+//    // 放入异常处理位试管架
+//    public void actionErrorTubeRackPutIn() {
+//        var slotMan = this.getResourceManager(ResHeatingTubeRackSlotManager.class);
+//        var slot = slotMan.getErrorSlot();
+//
+//        // 关闭设备门
+//        DiActMotor doorMotor = this.getActuator(MyDevice.ACT_DOOR_MOTOR, DiActMotor.class);
+//        doorMotor.moveToIO(1, 1);
+//
+//        var move = new MoveMoveTubeRackFromLiquidPlateToHeatPlate();
+//        move.slotIndex = slot.index;
+//        move.setDevice(this.getDevice());
+//        move.run();
+//        slot.lock();
+//
+//        var action = this.getAction("TaskStartResetErrorTubeRackPutIn");
+//        action.finish();
+//    }
+//
+//    // 蠕动泵管路初始化
+//    public void actionPumpPipeSetupTubeRankPutIn() {
+//        var action = this.getAction("TaskStartResetPumpPipeSetupTubeRankPutIn");
+//        action.finish();
+//    }
+//
+//    // 蠕动泵管路初始化
+//    public void actionPumpPipeSetupTubeRankTakeOut() {
+//        var action = this.getAction("TaskStartResetPumpPipeSetupTubeRankTakeOut");
+//        action.finish();
+//    }
+
+    // set progress message
+    private void setProgressMessage(String message) {
+        UfMdbRuntimeVariable.setString(message, "device.start.message");
+    }
+}

src/main/java/com/iflytop/digester/controller/DeviceController.java

@@ -0,0 +1,31 @@
+package com.iflytop.digester.controller;
+import com.iflytop.digester.StartResetTaskThread;
+import com.iflytop.digester.deviceinstance.Device;
+import com.iflytop.digester.underframework.controller.UfApiControllerBase;
+import com.iflytop.digester.underframework.controller.UfApiResponse;
+import jakarta.annotation.Resource;
+import org.springframework.stereotype.Controller;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.ResponseBody;
+@Controller
+public class DeviceController extends UfApiControllerBase {
+    @Resource
+    private Device device;
+
+    @ResponseBody
+    @PostMapping("/api/device/start")
+    public UfApiResponse start() {
+        if (!"new".equals(this.device.getStatus())) {
+            return this.error("当前设备无法执行启动操作");
+        }
+        var startReset = new StartResetTaskThread();
+        startReset.start();
+        return this.success();
+    }
+
+    @ResponseBody
+    @PostMapping("/api/device/status-get")
+    public UfApiResponse statusGet() {
+        return this.success(this.device.getStatus());
+    }
+}

src/main/java/com/iflytop/digester/controller/HeatSlotController.java

@@ -0,0 +1,21 @@
+package com.iflytop.digester.controller;
+import com.iflytop.digester.deviceinstance.Device;
+import com.iflytop.digester.underframework.controller.UfApiControllerBase;
+import com.iflytop.digester.underframework.controller.UfApiResponse;
+import jakarta.annotation.Resource;
+import org.springframework.stereotype.Controller;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.ResponseBody;
+import java.util.Map;
+@Controller
+public class HeatSlotController extends UfApiControllerBase {
+    @Resource
+    private Device device;
+
+    @ResponseBody
+    @PostMapping("/api/heat-slot/list")
+    public UfApiResponse list() {
+        var heatSlots = this.device.heatingTurntable.getSlots();
+        return this.success(Map.of("slots", heatSlots));
+    }
+}

src/main/java/com/iflytop/digester/controller/LiquidController.java

@@ -0,0 +1,21 @@
+package com.iflytop.digester.controller;
+import com.iflytop.digester.deviceinstance.Device;
+import com.iflytop.digester.underframework.controller.UfApiControllerBase;
+import com.iflytop.digester.underframework.controller.UfApiResponse;
+import jakarta.annotation.Resource;
+import org.springframework.stereotype.Controller;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.ResponseBody;
+import java.util.Map;
+@Controller
+public class LiquidController extends UfApiControllerBase {
+    @Resource
+    private Device device;
+
+    @ResponseBody
+    @PostMapping("/api/liquid/list")
+    public UfApiResponse list() {
+        var liquids = this.device.liquidAddition.getLiquids();
+        return this.success(Map.of("liquids", liquids));
+    }
+}

src/main/java/com/iflytop/digester/deviceinstance/Device.java

@@ -1,9 +1,14 @@
 package com.iflytop.digester.deviceinstance;
+import com.iflytop.digester.DigestionTaskThread;
 import jakarta.annotation.PostConstruct;
 import jakarta.annotation.Resource;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
 import org.springframework.stereotype.Component;
 @Component
 public class Device {
+    // logger
+    public static final Logger LOG = LoggerFactory.getLogger(Device.class);
     // device instance
     private static Device instance = null;
 
@@ -22,6 +27,9 @@ public class Device {
     @Resource
     public Camera camera;
 
+    // device status
+    private String status = "new"; // new, preparing, ready, running, stopping, stopped
+
     // get device instance
     public static Device getInstance() {
         return instance;
@@ -31,4 +39,15 @@ public class Device {
     public void init() {
         instance = this;
     }
+
+    // start device
+    public String getStatus() {
+        return status;
+    }
+
+    // set device status
+    public void setStatus(String status) {
+        LOG.info("[Device Status] {} => {}", this.status, status);
+        this.status = status;
+    }
 }

src/main/java/com/iflytop/digester/deviceinstance/HeatingTurntableInstance.java

@@ -17,6 +17,11 @@ public class HeatingTurntableInstance {
         }
     }
 
+    // 获取槽位列表
+    public List<HeatingTurntableSlot> getSlots() {
+        return slots;
+    }
+
     // 分配加热位
     synchronized public HeatingTurntableSlot allocSlot( String tubeRackNo ) {
         for (HeatingTurntableSlot slot : slots) {

src/main/java/com/iflytop/digester/deviceinstance/LiquidAdditionInstance.java

@@ -17,13 +17,19 @@ public class LiquidAdditionInstance {
             LiquidAdditionLiquid liquid = new LiquidAdditionLiquid();
 
             // @TODO : 测试用，要删除
-            liquid.type = "盐酸";
+            liquid.type = "hydrochloric";
             liquid.volume = 100;
 
             liquids.add(liquid);
         }
     }
 
+    // get liquids
+    public List<LiquidAdditionLiquid> getLiquids() {
+        return this.liquids;
+    }
+
+
     // 针对试管加液
     public void addLiquidToTubes(List<Integer> tubes, String type, int volume ) {
         var pumpIndexes = this.getPumpIndexForGroupOutAndIn(type);

src/main/java/com/iflytop/digester/underframework/controller/UfApiDictionary.java

@@ -0,0 +1,17 @@
+package com.iflytop.digester.underframework.controller;
+import com.iflytop.digester.underframework.dao.model.UfMdbDictItem;
+import org.springframework.stereotype.Controller;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.ResponseBody;
+import java.util.Map;
+@Controller
+public class UfApiDictionary extends UfApiControllerBase {
+    @ResponseBody
+    @PostMapping("/api/dictionary/list-by-group")
+    public UfApiResponse listByGroup(@RequestBody Map<String, Object> params ) {
+        var group = (String)params.get("group");
+        var items = UfMdbDictItem.getItems(group);
+        return success(items);
+    }
+}

src/main/java/com/iflytop/digester/underframework/controller/UfApiRuntimeVariable.java

@@ -0,0 +1,18 @@
+package com.iflytop.digester.underframework.controller;
+import com.iflytop.digester.underframework.dao.model.UfMdbRuntimeVariable;
+import org.springframework.stereotype.Controller;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.ResponseBody;
+import java.util.Map;
+@Controller
+public class UfApiRuntimeVariable extends UfApiControllerBase {
+    @ResponseBody
+    @PostMapping("/api/runtime-variable/get")
+    public UfApiResponse get(@RequestBody Map<String, Object> params ) {
+        String key = (String)params.get("key");
+        var value = UfMdbRuntimeVariable.getString(key);
+        assert value != null;
+        return success(Map.of("value", value));
+    }
+}

src/main/java/com/iflytop/digester/underframework/dao/model/UfMdbDictItem.java

@@ -0,0 +1,33 @@
+package com.iflytop.digester.underframework.dao.model;
+import com.iflytop.digester.underframework.dao.record.UfActiveRecord;
+import com.iflytop.digester.underframework.dao.record.UfActiveRecordField;
+
+import java.util.List;
+import java.util.Map;
+
+public class UfMdbDictItem extends UfActiveRecord {
+    @UfActiveRecordField
+    public String groupKey;
+
+    @UfActiveRecordField
+    public String groupName;
+
+    @UfActiveRecordField
+    public String itemKey;
+
+    @UfActiveRecordField
+    public String itemName;
+
+    @UfActiveRecordField
+    public String itemValue;
+
+    // get table name
+    public static String getTableName() {
+        return "app_dict_items";
+    }
+
+    // get items
+    public static List<UfMdbDictItem> getItems(String groupKey) {
+        return UfActiveRecord.find(UfMdbDictItem.class, Map.of("groupKey", groupKey));
+    }
+}

src/main/java/com/iflytop/digester/underframework/dao/model/UfMdbRuntimeVariable.java

@@ -0,0 +1,67 @@
+package com.iflytop.digester.underframework.dao.model;
+import com.iflytop.digester.underframework.dao.record.UfActiveRecord;
+import com.iflytop.digester.underframework.dao.record.UfActiveRecordField;
+import java.util.Map;
+public class UfMdbRuntimeVariable extends UfActiveRecord {
+    @UfActiveRecordField
+    public String key;
+
+    @UfActiveRecordField
+    public String value;
+
+    // get table name
+    public static String getTableName() {
+        return "app_runtime_variables";
+    }
+
+    // build key
+    private static String buildKey(String key, Object ... args) {
+        StringBuilder keyBuilder = new StringBuilder(key);
+        for (Object arg : args) {
+            keyBuilder.append(".").append(arg.toString());
+        }
+        return keyBuilder.toString();
+    }
+
+    // get location value
+    public static UfMdbRuntimeVariable getVariable(String key, Object ... args ) {
+        key = UfMdbRuntimeVariable.buildKey(key, args);
+        return UfActiveRecord.findOne(UfMdbRuntimeVariable.class, Map.of("key", key));
+    }
+
+    // get string
+    public static String getString(String name, Object ... args ) {
+        var variable = UfMdbRuntimeVariable.getVariable(name, args);
+        return null == variable ? null : variable.value;
+    }
+
+    // get integer
+    public static Integer getInteger(String name, Object ... args ) {
+        var variable = UfMdbRuntimeVariable.getVariable(name, args);
+        return null == variable ? null : Integer.parseInt(variable.value);
+    }
+
+    // set string
+    public static void setString(String value, String name, Object ... args ) {
+        var variable = UfMdbRuntimeVariable.getVariable(name, args);
+        if ( null == variable ) {
+            variable = new UfMdbRuntimeVariable();
+            variable.key = UfMdbRuntimeVariable.buildKey(name, args);
+        }
+        variable.value = value;
+        variable.save();
+    }
+
+    // set integer
+    public static void setInteger(Integer value, String name, Object ... args ) {
+        UfMdbRuntimeVariable.setString(value.toString(), name, args);
+    }
+
+    // remove
+    public static void remove(String name, Object ... args ) {
+        var variable = UfMdbRuntimeVariable.getVariable(name);
+        if ( null != variable ) {
+            variable.delete();
+        }
+    }
+}

src/main/java/com/iflytop/digester/underframework/dao/record/UfActiveRecord.java

@@ -103,6 +103,13 @@ public class UfActiveRecord {
         return mapper.count(criteria);
     }
 
+    // find by conditions
+    public static <T extends UfActiveRecord> List<T> find(Class<T> modelClass, Map<String,Object> conditions) {
+        var criteria = new UfActiveRecordCriteria();
+        criteria.conditions = conditions;
+        return UfActiveRecord.find(modelClass, criteria);
+    }
+
     // find all by criteria
     public static <T extends UfActiveRecord> List<T> find(Class<T> modelClass, UfActiveRecordCriteria criteria ) {
         criteria.tableName = UfActiveRecord.getTableNameFromModelClass(modelClass);

web

@@ -1 +1 @@
-Subproject commit 1281f43be8a5de2f98d83c2a32506bb878eb5495
+Subproject commit 7f4d0b8bfe683b41e75233368ed1ec1e98c8c350