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

@@ -94,25 +94,38 @@ public class DigestionTaskThread extends Thread {
     public void run() {
         try {
             this.prepare();
+
+            // 解析消解配方并取出首轮和末轮配置
             var rounds = this.solution.getDigestionRounds();
-            var firstRound = rounds.remove(0);
-            var lastRound = rounds.remove(rounds.size() - 1);
+            MdbDigestionSolution.DigestionSolutionRound firstRound = null;
+            if ( !rounds.isEmpty() && rounds.size() > 1 ) {
+                firstRound = rounds.remove(0);
+            }
+            MdbDigestionSolution.DigestionSolutionRound lastRound = null;
+            if ( !rounds.isEmpty() ) {
+                lastRound = rounds.remove(rounds.size() - 1);
+            }
 
             // 执行第一轮
+            if ( null != firstRound ) {
                 this.executeRound(firstRound);
+            }
             // 执行中间轮
             for (var round : rounds) {
                 this.executeRound(round);
             }
             // 执行最后一轮
+            if ( null != lastRound ) {
                 this.executeLastRound(lastRound);
+            }
 
             this.errorProcessThread.join();
             this.updateTaskStatus("Finish", "消解任务结束");
-            this.finishCallback.callback(this);
         } catch (Exception e) {
             this.updateTaskStatus("Error", e.getMessage());
             UfMdbNotification.error("消解任务执行失败 : " + e.getMessage());
+        } finally {
+            this.finishCallback.callback(this);
         }
     }
 
@@ -123,18 +136,24 @@ public class DigestionTaskThread extends Thread {
         var device = Device.getInstance();
 
         // 分配加热位
+        if ( "manual".equals(this.taskModel.mode) ) {
+            this.heatingSlot = device.heatingTurntable.getSlotByIndex(this.taskModel.heatingSlotIndex);
+        } else {
             this.heatingSlot = device.heatingTurntable.allocSlot(this.taskModel.batchNo);
+        }
         this.heatingSlot.setTubes(this.taskModel.getTubes());
         this.taskModel.heatingSlotIndex = this.heatingSlot.index;
         this.taskModel.save();
 
+        if ( "auto".equals(this.taskModel.mode) ) {
             // 打开门
             device.door.open();
             // 等待放入试管架
-        this.waitForTubeRackPutIn(false);
+            this.waitForTubeRackPutIn();
             // 关闭门
             device.door.close();
         }
+    }
 
     // 检查试管
     private void tubeCheckAndMove() throws InterruptedException {
@@ -171,7 +190,7 @@ public class DigestionTaskThread extends Thread {
                 if ( !this.errorTubeIndexes.isEmpty() ) {
                     var device = Device.getInstance();
                     // 等待放入空试管架
-                    this.waitForTubeRackPutIn(true);
+                    this.waitForEmptyTubeRackPutIn();
                     // 取出剩余异常试管
                     device.transferArm.takeOutTubesFromErrorSlot(this.errorTubeIndexes);
                     // 等待取出试管架
@@ -268,7 +287,8 @@ public class DigestionTaskThread extends Thread {
             device.liquidAddition.addLiquidToTubes(this.heatingSlot.getExistTubeIndexes(), "water", digestionRound.waterVolume);
         }
 
-        // 正常消解结束
+        // 正常消解结束；
+        if ( "auto".equals(this.taskModel.mode) ) {
             // 移动到加液盘
             device.transferArm.moveTubeRackToLiquidPlate(this.heatingSlot.index);
             // 打开门
@@ -280,6 +300,7 @@ public class DigestionTaskThread extends Thread {
             // 释放加热位
             this.heatingSlot.setTubeRackNo(null);
         }
+    }
 
     // 执行消解异常处理配置
     private void executeErrorRound( MdbDigestionSolution.DigestionSolutionErrorRound errorRound ) throws InterruptedException {
@@ -311,7 +332,7 @@ public class DigestionTaskThread extends Thread {
         // 将试管架放入异常处理区域
         device.transferArm.moveTubeRackToHeatingTurntable(this.heatingSlot.index);
         // 等待放入空试管架
-        this.waitForTubeRackPutIn(true);
+        this.waitForEmptyTubeRackPutIn();
         // 取出消解完成的试管
         device.transferArm.takeOutTubesFromErrorSlot(this.finishedErrorTubeIndexes);
         // 等待取出试管架
@@ -321,14 +342,37 @@ public class DigestionTaskThread extends Thread {
     }
 
     // 等待放入试管架
-    private void waitForTubeRackPutIn( Boolean requestEmptyTubeRack ) {
-        if ( requestEmptyTubeRack ) {
-            this.manager.sendMessageToTransBot("EmptyTubeRackPutIn", Map.of("batchNo", this.taskModel.batchNo));
+    private void waitForTubeRackPutIn() {
+        this.updateTaskStatus("TubeRackPutInWait", "等待放入试管架");
+
+        // 发送放入试管架消息
+        Map<String,Object> message = Map.of("batchNo", this.taskModel.batchNo, "taskId", this.taskModel.outTaskId);
+        this.manager.sendMessageToTransBot("TubeRackPutIn", message);
+
+        // 等待试管架放入完成
+        synchronized ( this.tubeRackPutInWaitLock ) {
+            try {
+                this.tubeRackPutInWaitLock.wait();
+            } catch (InterruptedException e) {
+                throw new RuntimeException(e);
+            }
+        }
+        this.updateTaskStatus("TubeRackPutInWaitDone", "试管架已放入");
+    }
+
+    // 等待放入试管架
+    private void waitForEmptyTubeRackPutIn() {
+        this.updateTaskStatus("TubeRackPutInWait", "等待放入空试管架");
+
+        // 发送放入试管架消息
+        Map<String,Object> message = Map.of("batchNo", this.taskModel.batchNo, "taskId", this.taskModel.outTaskId);
+        if ( "auto".equals(this.taskModel.mode) ) {
+            this.manager.sendMessageToTransBot("EmptyTubeRackPutIn", message);
         } else {
-            this.manager.sendMessageToTransBot("TubeRackPutIn", Map.of("batchNo", this.taskModel.batchNo));
+            UfMdbNotification.action("EmptyTubeRackPutIn", message);
         }
 
-        this.updateTaskStatus("TubeRackPutInWait", "等待放入试管架");
+        // 等待试管架放入完成
         synchronized ( this.tubeRackPutInWaitLock ) {
             try {
                 this.tubeRackPutInWaitLock.wait();
@@ -341,8 +385,15 @@ public class DigestionTaskThread extends Thread {
 
     // 等待取出试管架
     private void waitForTubeRackTakeOut() {
-        this.manager.sendMessageToTransBot("TubeRackTakeOut", Map.of("batchNo", this.taskModel.batchNo));
         this.updateTaskStatus("TubeRackTakeOutWait", "等待取出试管架");
+
+        Map<String,Object> message = Map.of("batchNo", this.taskModel.batchNo, "taskId", this.taskModel.outTaskId);
+        if ( "auto".equals(this.taskModel.mode) ) {
+            this.manager.sendMessageToTransBot("TubeRackTakeOut", message);
+        } else {
+            UfMdbNotification.action("TubeRackTakeOut", message);
+        }
+
         synchronized ( this.tubeRackTakeOutWaitLock ) {
             try {
                 this.tubeRackTakeOutWaitLock.wait();
@@ -356,6 +407,9 @@ public class DigestionTaskThread extends Thread {
     // 拍照检查试管
     private void takeShotAndCheckErrorTubes() {
         this.updateTaskStatus("TubeCheck", "拍照检查试管，等待确认异常试管");
+        Map<String,Object> message = Map.of("batchNo", this.taskModel.batchNo, "taskId", this.taskModel.outTaskId);
+        UfMdbNotification.action("TubeCheck", message);
+
         this.errorTubeIndexes.clear();
         synchronized ( this.errorTubeIndexes ) {
             try {
@@ -370,6 +424,9 @@ public class DigestionTaskThread extends Thread {
     // 拍照检查试管
     private void takeShotAndCheckFinishedTubes() {
         this.updateTaskStatus("ErrorTubeCheck", "拍照检查异常试管，等待确认完成试管");
+        Map<String,Object> message = Map.of("batchNo", this.taskModel.batchNo, "taskId", this.taskModel.outTaskId);
+        UfMdbNotification.action("ErrorTubeCheck", message);
+
         this.finishedErrorTubeIndexes.clear();
         synchronized ( this.finishedErrorTubeIndexes ) {
             try {

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

@@ -0,0 +1,15 @@
+package com.iflytop.digester.controller;
+import com.iflytop.digester.underframework.controller.UfApiControllerBase;
+import com.iflytop.digester.underframework.controller.UfApiResponse;
+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 CameraController extends UfApiControllerBase {
+    @ResponseBody
+    @PostMapping("/api/camera/take-shot")
+    public UfApiResponse takeShot() {
+        return this.success(Map.of("data", "https://avatars.githubusercontent.com/u/53512912?v=4"));
+    }
+}

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

@@ -7,6 +7,7 @@ import com.iflytop.digester.underframework.util.UfJsonHelper;
 import com.iflytop.digester.underframework.controller.UfApiControllerBase;
 import com.iflytop.digester.underframework.controller.UfApiResponse;
 import jakarta.annotation.Resource;
+import jakarta.servlet.http.HttpServletRequest;
 import org.springframework.stereotype.Controller;
 import org.springframework.web.bind.annotation.PostMapping;
 import org.springframework.web.bind.annotation.RequestBody;
@@ -20,11 +21,13 @@ public class DigestionTaskController extends UfApiControllerBase {
 
     @ResponseBody
     @PostMapping("/api/digestion-task/start")
-    public UfApiResponse start(@RequestBody Map<String,Object> params) {
+    public UfApiResponse start(HttpServletRequest request, @RequestBody Map<String,Object> params) {
         String taskId = (String)params.get("taskId");
         String name = (String)params.get("name");
         String batchNo = (String)params.get("batchNo");
         List<Map<String,Object>> tubes = (List<Map<String,Object>>)params.get("tubes");
+        String mode = (String)params.get("mode");
+        Integer slotIndex = (Integer)params.get("slotIndex");
 
         var digestion = UfActiveRecord.findOne(MdbDigestionSolution.class, Map.of("name", name));
         if ( null == digestion ) {
@@ -39,7 +42,9 @@ public class DigestionTaskController extends UfApiControllerBase {
         task.status = "pending";
         task.message = "等待中";
         task.startedAt = (int)(System.currentTimeMillis() / 1000);
-        task.startedBy = 0;
+        task.startedBy = this.getUserFromRequest(request).id;
+        task.mode = mode;
+        task.heatingSlotIndex = slotIndex;
         task.save();
 
         this.taskManager.startTask(task);

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

@@ -26,8 +26,8 @@ public class LiquidController extends UfApiControllerBase {
         Integer bucketIndex = (Integer)params.get("index");
         String liquidType = (String)params.get("type");
         var bucket = this.device.liquidAddition.getLiquidByIndex(bucketIndex);
-        bucket.type = liquidType;
-        bucket.volume = bucket.totalVolume;
+        bucket.setType(liquidType);
+        bucket.setVolume(bucket.totalVolume);
         return this.success();
     }
 }

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

@@ -22,6 +22,11 @@ public class HeatingTurntableInstance {
         return slots;
     }
 
+    // 根据索引获取槽位
+    public HeatingTurntableSlot getSlotByIndex(Integer index) {
+        return slots.get(index);
+    }
+
     public HeatingTurntableSlot getSlotByLiquidPlateTubeRack() {
         for (HeatingTurntableSlot slot : slots) {
             if (null != slot.tubeRackNo && slot.tubeRackLocation.equals("liquid-plate")) {

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

@@ -1,4 +1,7 @@
 package com.iflytop.digester.deviceinstance;
+
+import com.iflytop.digester.underframework.dao.model.UfMdbRuntimeVariable;
+
 public class LiquidAdditionLiquid {
     // bucket index
     public Integer bucketIndex;
@@ -8,4 +11,16 @@ public class LiquidAdditionLiquid {
     public Integer volume;
     // total volume
     public Integer totalVolume;
+
+    // set type
+    public void setType( String type ) {
+        this.type = type;
+        UfMdbRuntimeVariable.setString(String.format("LiquidBucketType.%d", this.bucketIndex), type);
+    }
+
+    // set volume
+    public void setVolume( Integer volume ) {
+        this.volume = volume;
+        UfMdbRuntimeVariable.setInteger(String.format("LiquidBucketVolume.%d", this.bucketIndex), volume);
+    }
 }

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

@@ -3,6 +3,8 @@ import com.iflytop.digester.underframework.UfCmdSnippetExecutor;
 import org.springframework.stereotype.Component;
 import java.util.ArrayList;
 import java.util.List;
+import java.util.Map;
+
 @Component
 public class TransferRobotArmInstance {
     // 等待锁队列
@@ -16,7 +18,12 @@ public class TransferRobotArmInstance {
         // 执行从异常槽位取出试管
         UfCmdSnippetExecutor.execute("TubeTakeOutFromErrorSlotStart");
         for (Integer tubeIndex : tubeIndexes) {
-            UfCmdSnippetExecutor.execute("TubeTakeOutFromErrorSlot." + tubeIndex);
+            UfCmdSnippetExecutor.execute("TubeTakeOutFromErrorSlot", Map.of(
+                "MotorLiquidPlatePos", 100,
+                "MotorArmLeftRightSrcPos", 100,
+                "MotorArmLeftRightDstPos", 100,
+                "MotorHeatingTurntablePos", 100
+            ));
         }
         UfCmdSnippetExecutor.execute("TubeTakeOutFromErrorSlotEnd");
 
@@ -31,7 +38,12 @@ public class TransferRobotArmInstance {
         // 执行移动试管到异常槽位
         UfCmdSnippetExecutor.execute("TubeMoveToErrorSlotStart");
         for (Integer tubeIndex : tubeIndexes) {
-            UfCmdSnippetExecutor.execute("TubeMoveToErrorSlot." + tubeIndex);
+            UfCmdSnippetExecutor.execute("TubeMoveToErrorSlot", Map.of(
+                "MotorLiquidPlatePos", 100,
+                "MotorArmLeftRightSrcPos", 100,
+                "MotorArmLeftRightDstPos", 100,
+                "MotorHeatingTurntablePos", 100
+            ));
         }
         UfCmdSnippetExecutor.execute("TubeMoveToErrorSlotEnd");
 

src/main/java/com/iflytop/digester/model/MdbDigestionTask.java

@@ -30,7 +30,7 @@ public class MdbDigestionTask extends UfActiveRecord {
     public Integer startedAt;
 
     @UfActiveRecordField
-    public Integer startedBy;
+    public String startedBy;
 
     @UfActiveRecordField
     public Integer finishedAt = 0;
@@ -38,6 +38,9 @@ public class MdbDigestionTask extends UfActiveRecord {
     @UfActiveRecordField
     public Integer heatingSlotIndex = -1;
 
+    @UfActiveRecordField
+    public String mode;
+
     // get table name
     public static String getTableName() {
         return "app_digestion_tasks";

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

@@ -1,6 +1,10 @@
 package com.iflytop.digester.underframework.dao.model;
 import com.iflytop.digester.underframework.dao.record.UfActiveRecord;
 import com.iflytop.digester.underframework.dao.record.UfActiveRecordField;
+import com.iflytop.digester.underframework.util.UfJsonHelper;
+
+import java.util.Map;
+
 public class UfMdbNotification extends UfActiveRecord {
     @UfActiveRecordField
     public String type;
@@ -59,4 +63,15 @@ public class UfMdbNotification extends UfActiveRecord {
         notification.status = "new";
         notification.save();
     }
+
+    // notify action
+    public static void action( String action, Map<String,Object> params) {
+        var data = Map.of("action", action, "params", params);
+        var dataJson = UfJsonHelper.objectToJson(data);
+        var notification = new UfMdbNotification();
+        notification.type = "action";
+        notification.data = dataJson;
+        notification.status = "new";
+        notification.save();
+    }
 }

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

@@ -42,19 +42,19 @@ public class UfMdbRuntimeVariable extends UfActiveRecord {
     }
 
     // set string
-    public static void setString(String value, String name, Object ... args ) {
-        var variable = UfMdbRuntimeVariable.getVariable(name, args);
+    public static void setString(String name, String value) {
+        var variable = UfActiveRecord.findOne(UfMdbRuntimeVariable.class, Map.of("key", name));
         if ( null == variable ) {
             variable = new UfMdbRuntimeVariable();
-            variable.key = UfMdbRuntimeVariable.buildKey(name, args);
+            variable.key = name;
         }
         variable.value = value;
         variable.save();
     }
 
     // set integer
-    public static void setInteger(Integer value, String name, Object ... args ) {
-        UfMdbRuntimeVariable.setString(value.toString(), name, args);
+    public static void setInteger(String name, Integer value) {
+        UfMdbRuntimeVariable.setString(name, value.toString());
     }
 
     // remove