~

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

@@ -162,8 +162,25 @@ public class DigestionTaskThread extends Thread {
         device.transferArm.moveTubeRackToLiquidPlate(this.heatingSlot.index);
         // 拍照检查异常试管
         this.takeShotAndCheckErrorTubes();
+
+        // 申请异常处理位
+        var errorSlot = device.heatingTurntable.getErrorSlot();
+        var emptyTubeIndexes = errorSlot.getEmptyTubeIndexes(this.errorTubeIndexes.size());
+        var errorTubeIndexes = this.errorTubeIndexes;
+        if ( emptyTubeIndexes.size() < this.errorTubeIndexes.size() ) {
+            errorTubeIndexes = this.errorTubeIndexes.subList(0, emptyTubeIndexes.size());
+        }
+
         // 将异常试管放入异常处理区域
-        device.transferArm.moveTubesToErrorSlot(this.errorTubeIndexes);
+        device.transferArm.moveTubesToErrorSlot(errorTubeIndexes, emptyTubeIndexes);
+
+        // 更新试管状态
+        for ( var tubeIndex : errorTubeIndexes ) {
+            var tube = this.heatingSlot.tubes.get(tubeIndex);
+            errorSlot.tubes.set(emptyTubeIndexes.get(0), tube);
+            this.heatingSlot.tubes.set(tubeIndex, null);
+        }
+
         // 将正常试管放入加热转盘
         device.transferArm.moveTubeRackToHeatingTurntable(this.heatingSlot.index);
     }

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

@@ -1,12 +1,15 @@
 package com.iflytop.digester.deviceinstance;
 import jakarta.annotation.PostConstruct;
+import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Component;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.TimerTask;
-
 @Component
 public class HeatingTurntableInstance {
+    @Value("${app.errorSlotIndex}")
+    private Integer errorSlotIndex;
+
     // 槽位列表
     private final List<HeatingTurntableSlot> slots = new ArrayList<>();
 
@@ -15,6 +18,9 @@ public class HeatingTurntableInstance {
         for (int i = 0; i < 5; i++) {
             HeatingTurntableSlot slot = new HeatingTurntableSlot();
             slot.index = i;
+            if (i == errorSlotIndex) {
+                slot.isErrorSlot = true;
+            }
             slots.add(slot);
         }
     }
@@ -24,6 +30,11 @@ public class HeatingTurntableInstance {
         return slots;
     }
 
+    // 获取异常槽位
+    public HeatingTurntableSlot getErrorSlot() {
+        return slots.get(errorSlotIndex);
+    }
+
     // 根据索引获取槽位
     public HeatingTurntableSlot getSlotByIndex(Integer index) {
         return slots.get(index);

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

@@ -23,6 +23,8 @@ public class HeatingTurntableSlot {
     public List<HeatingTurntableSlotTube> tubes = new ArrayList<>();
     // 试管架位置
     public String tubeRackLocation = null; // heating-turntable:加热转盘 liquid-plate :加液盘
+    // 是否异常槽位
+    public Boolean isErrorSlot = false;
 
     // Constructor
     public HeatingTurntableSlot() {
@@ -43,6 +45,17 @@ public class HeatingTurntableSlot {
         }
     }
 
+    // 获取空试管索引列表
+    public List<Integer> getEmptyTubeIndexes( Integer limit ) {
+        List<Integer> indexes = new ArrayList<>();
+        for (int i = 0; i < tubes.size(); i++) {
+            if ( null == tubes.get(i) && indexes.size() < limit ) {
+                indexes.add(i);
+            }
+        }
+        return indexes;
+    }
+
     // 获取非空试管索引列表
     public List<Integer> getExistTubeIndexes() {
         List<Integer> indexes = new ArrayList<>();
@@ -60,8 +73,11 @@ public class HeatingTurntableSlot {
         this.heatingDuration = duration;
         this.heatingStatus = "on";
 
-        var snippetName = "HeatingTurntableSlotHeating.Start." + this.index;
-        Map<String,Object> snippetParams = Map.of("temperature", temperature, "duration", duration);
+        var snippetName = "HeatingTurntableSlotHeating." + this.index;
+        Map<String,Object> snippetParams = Map.of(
+            "temperature", temperature,
+            "duration", duration * 60 * 1000
+        );
         UfCmdSnippetExecutor.execute(snippetName, snippetParams);
 
         // 加热完成

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

@@ -1,7 +1,9 @@
 package com.iflytop.digester.deviceinstance;
 import com.iflytop.digester.underframework.UfCmdSnippetExecutor;
+import com.iflytop.digester.underframework.dao.model.UfMdbOption;
 import org.springframework.stereotype.Component;
 import java.util.ArrayList;
+import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
 
@@ -16,37 +18,33 @@ public class TransferRobotArmInstance {
         this.lockArm(lock);
 
         // 执行从异常槽位取出试管
-        UfCmdSnippetExecutor.execute("TubeTakeOutFromErrorSlotStart");
         for (Integer tubeIndex : tubeIndexes) {
-            UfCmdSnippetExecutor.execute("TubeTakeOutFromErrorSlot", Map.of(
-                "MotorLiquidPlatePos", 100,
-                "MotorArmLeftRightSrcPos", 100,
-                "MotorArmLeftRightDstPos", 100,
-                "MotorHeatingTurntablePos", 100
-            ));
+            var snippetKey = "TubeTakeOutFromErrorSlot";
+            var snippetParams = new HashMap<String, Object>();
+            snippetParams.put("LiquidPlatePos", UfMdbOption.getInteger("LiquidPlateTube." + tubeIndex, 0));
+            snippetParams.put("TransLrSrcPos", UfMdbOption.getInteger("HeatPlateErrorSlotTube." + tubeIndex, 0));
+            snippetParams.put("HeatingPlatePos", UfMdbOption.getInteger("TransLrMotorLiquidPlateTube." + tubeIndex, 0));
+            snippetParams.put("TransLrDestPos", UfMdbOption.getInteger("TransLrMotorHeatingPlateTube." + tubeIndex, 0));
+            UfCmdSnippetExecutor.execute(snippetKey, snippetParams);
         }
-        UfCmdSnippetExecutor.execute("TubeTakeOutFromErrorSlotEnd");
-
         this.unlockArm(lock);
     }
 
     // 移动试管到异常槽位
-    public void moveTubesToErrorSlot(List<Integer> tubeIndexes) {
+    public void moveTubesToErrorSlot(List<Integer> srcIndexes, List<Integer> destIndexes) {
         var lock = new Object();
         this.lockArm(lock);
 
         // 执行移动试管到异常槽位
-        UfCmdSnippetExecutor.execute("TubeMoveToErrorSlotStart");
-        for (Integer tubeIndex : tubeIndexes) {
-            UfCmdSnippetExecutor.execute("TubeMoveToErrorSlot", Map.of(
-                "MotorLiquidPlatePos", 100,
-                "MotorArmLeftRightSrcPos", 100,
-                "MotorArmLeftRightDstPos", 100,
-                "MotorHeatingTurntablePos", 100
-            ));
+        for (Integer tubeIndex : srcIndexes) {
+            String snippetKey = "TubeMoveToErrorSlot";
+            Map<String,Object> snippetParams = new HashMap<>();
+            snippetParams.put("LiquidPlatePos", UfMdbOption.getInteger("LiquidPlateTube." + tubeIndex, 0));
+            snippetParams.put("TransLrSrcPos", UfMdbOption.getInteger("TransLrMotorLiquidPlateTube." + tubeIndex, 0));
+            snippetParams.put("HeatingPlatePos", UfMdbOption.getInteger("HeatPlateErrorSlotTube." + tubeIndex, 0));
+            snippetParams.put("TransLrDestPos", UfMdbOption.getInteger("TransLrMotorHeatingPlateTube." + tubeIndex, 0));
+            UfCmdSnippetExecutor.execute(snippetKey, snippetParams);
         }
-        UfCmdSnippetExecutor.execute("TubeMoveToErrorSlotEnd");
-
         this.unlockArm(lock);
     }
 

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

@@ -0,0 +1,31 @@
+package com.iflytop.digester.model;
+import com.iflytop.digester.underframework.dao.record.UfActiveRecord;
+import com.iflytop.digester.underframework.dao.record.UfActiveRecordField;
+public class MdbDigestionTaskLog extends UfActiveRecord {
+    @UfActiveRecordField
+    public String taskId;
+
+    @UfActiveRecordField
+    public String action;
+
+    @UfActiveRecordField
+    public String content;
+
+    @UfActiveRecordField
+    public Long timestamp;
+
+    // get table name
+    public static String getTableName() {
+        return "app_digestion_task_logs";
+    }
+
+    // log
+    public static void log(String taskId, String action, String content) {
+        var log = new MdbDigestionTaskLog();
+        log.taskId = taskId;
+        log.action = action;
+        log.content = content;
+        log.timestamp = System.currentTimeMillis();
+        log.save();
+    }
+}

src/main/java/com/iflytop/digester/underframework/UfCmdSnippetExecutor.java

@@ -2,6 +2,8 @@ package com.iflytop.digester.underframework;
 import com.fasterxml.jackson.core.JsonProcessingException;
 import com.fasterxml.jackson.databind.JsonNode;
 import com.fasterxml.jackson.databind.ObjectMapper;
+import com.iflytop.digester.underframework.command.UfCommand;
+import com.iflytop.digester.underframework.util.UfClassHelper;
 import freemarker.template.Configuration;
 import freemarker.template.Template;
 import freemarker.template.TemplateException;
@@ -14,6 +16,7 @@ import org.slf4j.LoggerFactory;
 
 import java.io.IOException;
 import java.util.HashMap;
+import java.util.List;
 import java.util.Map;
 import java.io.StringWriter;
 public class UfCmdSnippetExecutor {
@@ -79,15 +82,36 @@ public class UfCmdSnippetExecutor {
     public void executeStep(String cmdId, String cmdParams) {
         var cmd = UfActiveRecord.findOne(UfMdbActuatorCmd.class, cmdId);
         if (null == cmd) {
+            this.executeBuildInCmd(cmdId, cmdParams);
+            return;
+        }
+
+        cmd.parameters = this.compileParameterString(cmdParams);
+        UfActuatorCmdExecutor.execute(cmd);
+    }
+
+    // execute build-in command
+    private void executeBuildInCmd( String cmdId, String cmdParams ) {
+        var buildInCmdClassName = this.getClass().getPackageName() + ".command.UfCmd" + cmdId;
+        UfCommand buildInCmd = null;
+        try {
+            buildInCmd = (UfCommand)UfClassHelper.newInstance(buildInCmdClassName);
+        } catch ( Exception e ) {
             throw new RuntimeException("无效的指令ID : " + cmdId);
         }
 
-        // 编译参数为模板
+        cmdParams = this.compileParameterString(cmdParams);
+        List<String> args = List.of(cmdParams.split(","));
+        buildInCmd.execute(args);
+    }
+
+    // 编译参数字符串
+    private String compileParameterString( String paramText ) {
         freemarker.template.Configuration cfg = new Configuration(Configuration.VERSION_2_3_31);
         cfg.setNumberFormat("0");
         Template template = null;
         try {
-            template = new Template("", cmdParams, cfg);
+            template = new Template("", paramText, cfg);
         } catch (IOException e) {
             throw new RuntimeException(e);
         }
@@ -97,7 +121,6 @@ public class UfCmdSnippetExecutor {
         } catch (TemplateException | IOException e) {
             throw new RuntimeException(e);
         }
-        cmd.parameters = paramStrWriter.toString();
-        UfActuatorCmdExecutor.execute(cmd);
+        return paramStrWriter.toString();
     }
 }

src/main/java/com/iflytop/digester/underframework/resourcecontrol/systemcommand/TsCmdDelay.java → src/main/java/com/iflytop/digester/underframework/command/UfCmdDelay.java

@@ -1,6 +1,6 @@
-package com.iflytop.digester.underframework.resourcecontrol.systemcommand;
+package com.iflytop.digester.underframework.command;
 import java.util.List;
-public class TsCmdDelay implements TsCommand {
+public class UfCmdDelay implements UfCommand {
     @Override
     public void execute( List<String> args ) {
         // get delay time

src/main/java/com/iflytop/digester/underframework/command/UfCommand.java

@@ -0,0 +1,6 @@
+package com.iflytop.digester.underframework.command;
+import java.util.List;
+public interface UfCommand {
+    // execute
+    void execute( List<String> args );
+}

src/main/java/com/iflytop/digester/underframework/connection/UfModbusRTUOverTCP.java

@@ -38,14 +38,14 @@ public class UfModbusRTUOverTCP extends UfConnectionBase {
     synchronized public String execute(UfMdbActuatorCmd command) {
         if ( "03".equals(command.cmdId) ) {
             Integer slaveId = Integer.parseInt(command.cmdFlags);
-            Integer address = Integer.parseInt(command.parameters);
+            Integer address = Integer.parseInt(command.parameters.trim());
             Integer value = this.readHoldingRegister(slaveId, address);
             return value.toString();
         } else if ( "06".equals(command.cmdId) ) {
             Integer slaveId = Integer.parseInt(command.cmdFlags);
             String[] params = command.parameters.split(",");
-            Integer address = Integer.parseInt(params[0]);
-            Integer value = Integer.parseInt(params[1]);
+            Integer address = Integer.parseInt(params[0].trim());
+            Integer value = Integer.parseInt(params[1].trim());
             this.writeHoldingRegister(slaveId, address, value);
             return "";
         } else {

src/main/java/com/iflytop/digester/underframework/resourcecontrol/systemcommand/TsCommand.java

@@ -1,6 +0,0 @@
-package com.iflytop.digester.underframework.resourcecontrol.systemcommand;
-import java.util.List;
-public interface TsCommand {
-    // execute
-    void execute( List<String> args );
-}

src/main/resources/application-dev.yml

@@ -13,16 +13,16 @@ device:
   connections:
     - name : zcancmder
       key : zcancmder
-      enable : false
+      enable : true
       type : ZcancmderWebsocket
-#      uri: ws://192.168.8.10:19005
-      uri : ws://127.0.0.1:19005
+      uri: ws://192.168.8.10:19005
+#      uri : ws://127.0.0.1:19005
     - name : modbus
       key : modbus
       enable : true
       type : ModbusRTUOverTCP
-      host: 127.0.0.1
-      port: 502
+      host: 192.168.8.10
+      port: 20000
 
 mqtt-broker:
   uri: tcp://broker.emqx.io:1883

web

@@ -1 +1 @@
-Subproject commit 1513f7b9d26f452c6ded8c1d7fe43c047fab162a
+Subproject commit 464111807ce66ce1d0f0652455cc17689d12ab7e