From 8db8c95ddcd9dd3107f917e5d5c852ade85c610e Mon Sep 17 00:00:00 2001 From: sige Date: Thu, 18 Apr 2024 13:23:19 +0800 Subject: [PATCH] ~ --- app.db | Bin 348160 -> 360448 bytes .../com/iflytop/digester/DigestionTaskThread.java | 116 ++++++++++++++------- .../003a4049-43a8-4685-b725-0ef981a63d09.vsidx | Bin 22708 -> 0 bytes .../0c5d8c00-190b-4149-adea-d196cfb732c1.vsidx | Bin 49341 -> 0 bytes .../32a71717-b8c7-4106-8f15-99bbd922817c.vsidx | Bin 0 -> 22592 bytes .../3ffb981f-6afa-4d2f-a956-f6e71b0a3ff7.vsidx | Bin 0 -> 47973 bytes .../digester/camera/.vs/baslerCamera/v17/.suo | Bin 53760 -> 46592 bytes .../camera/.vs/baslerCamera/v17/Browse.VC.db | Bin 32145408 -> 32145408 bytes .../iflytop/digester/camera/DiComBaslerCamera.cpp | 2 +- .../digester/controller/CameraController.java | 29 +++++- .../digester/controller/TestController.java | 25 +++++ .../deviceinstance/LiquidAdditionInstance.java | 12 +++ .../deviceinstance/TransferRobotArmInstance.java | 6 +- .../digester/model/MdbDigestionSolution.java | 6 ++ .../digester/model/MdbDigestionTaskLog.java | 9 ++ .../connection/UfZcancmderWebsocket.java | 38 +++++-- src/main/resources/application-dev.yml | 2 +- web | 2 +- 18 files changed, 196 insertions(+), 51 deletions(-) delete mode 100644 src/main/java/com/iflytop/digester/camera/.vs/baslerCamera/FileContentIndex/003a4049-43a8-4685-b725-0ef981a63d09.vsidx delete mode 100644 src/main/java/com/iflytop/digester/camera/.vs/baslerCamera/FileContentIndex/0c5d8c00-190b-4149-adea-d196cfb732c1.vsidx create mode 100644 src/main/java/com/iflytop/digester/camera/.vs/baslerCamera/FileContentIndex/32a71717-b8c7-4106-8f15-99bbd922817c.vsidx create mode 100644 src/main/java/com/iflytop/digester/camera/.vs/baslerCamera/FileContentIndex/3ffb981f-6afa-4d2f-a956-f6e71b0a3ff7.vsidx create mode 100644 src/main/java/com/iflytop/digester/controller/TestController.java diff --git a/app.db b/app.db index 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zVHO?C*UpVNEHoc@s&~~(@hpOnwGHsmBtYg>nHQ>kXt(bOb~j8!Vq#0J#PS>O?o|Pm zeao(iVK*_%K@x%6V0X7)8LT)=ps0$s8p7StI5lQO7Dtd>Fl%J%89(TrWtK!ZrX!LP zvd=Oby<#V`&-){nSRH3xigbHRk7DkMM;GAJb&$-k-!&Fx~S>{@H$RTOqWJm`hk_7eI`3pweBmXeP8DE%*^zk)89_tlfDZ7GmWWf QZ$}Tq4t?^B#QCZJ0gQO!q5uE@ diff --git a/src/main/java/com/iflytop/digester/DigestionTaskThread.java b/src/main/java/com/iflytop/digester/DigestionTaskThread.java index 7eeecf9..d9efb9e 100644 --- a/src/main/java/com/iflytop/digester/DigestionTaskThread.java +++ b/src/main/java/com/iflytop/digester/DigestionTaskThread.java @@ -4,6 +4,7 @@ import com.iflytop.digester.model.MdbDigestionTask; import com.iflytop.digester.model.MdbDigestionSolution; import com.iflytop.digester.model.MdbDigestionTaskLog; import com.iflytop.digester.underframework.dao.model.UfMdbNotification; +import com.iflytop.digester.underframework.dao.model.UfMdbOption; import com.iflytop.digester.underframework.dao.record.UfActiveRecord; import org.slf4j.Logger; import org.slf4j.LoggerFactory; @@ -107,14 +108,15 @@ public class DigestionTaskThread extends Thread { 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); - } +// // 执行第一轮 +// if ( null != firstRound ) { +// this.updateTaskStatus("FirstRound", "执行第一轮配置"); +// 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); @@ -224,6 +226,7 @@ public class DigestionTaskThread extends Thread { // 执行消解每轮配置 private void executeRound( MdbDigestionSolution.DigestionSolutionRound digestionRound ) throws InterruptedException { + this.updateTaskStatus("RoundStart", "配置轮次开始执行"); var device = Device.getInstance(); // 加液 @@ -232,6 +235,7 @@ public class DigestionTaskThread extends Thread { for ( var liquid : digestionRound.liquids ) { this.updateTaskStatus("Liquid", String.format("加液 %s %d", liquid.type, liquid.volume)); liquidAddition.addLiquidToTubes(tubes, liquid.type, liquid.volume); + liquidAddition.shake(digestionRound.shakingCount); } // 搬运到加热转盘 @@ -245,10 +249,12 @@ public class DigestionTaskThread extends Thread { // 移至加液区， 以便执行下一轮 device.transferArm.moveTubeRackToLiquidPlate(this.heatingSlot.index); + this.updateTaskStatus("RoundFinish", "配置轮次执行结束"); } // 执行消解最后一轮配置 private void executeLastRound( MdbDigestionSolution.DigestionSolutionRound digestionRound ) throws InterruptedException { + this.updateTaskStatus("LastRound", "执行最后一轮配置开始"); this.isPrecheckFinished = false; var device = Device.getInstance(); @@ -257,13 +263,15 @@ public class DigestionTaskThread extends Thread { for ( var heating : digestionRound.heatings ) { totalDurationCount += heating.duration; } - long preCheckDuration = totalDurationCount - 10; - if ( 0 >= preCheckDuration ) { - preCheckDuration = 0; + Integer preCheckTimeOption = UfMdbOption.getInteger("DigestionLastRoundPreCheckTime", 10); + long preCheckTime = totalDurationCount - preCheckTimeOption; + if ( 0 >= preCheckTime ) { + preCheckTime = 0; } var preCheckTimerTask = new TimerTask() { @Override public void run() { + DigestionTaskThread.this.updateTaskStatus("LastRoundPreCheck", "末轮预检查开始"); try { // 检查试管 DigestionTaskThread.this.tubeCheckAndMove(); @@ -275,17 +283,22 @@ public class DigestionTaskThread extends Thread { DigestionTaskThread.this.precheckLock.notifyAll(); } } catch (Exception e) { + DigestionTaskThread.this.updateTaskStatus("LastRoundPreCheck", String.format("末轮预检查异常: %s", e.getMessage())); throw new RuntimeException(e); + } finally { + DigestionTaskThread.this.updateTaskStatus("LastRoundPreCheck", "末轮预检查结束"); } } }; var preCheckTimer = new Timer(); - preCheckTimer.schedule(preCheckTimerTask, preCheckDuration * 60 * 1000); + this.updateTaskStatus("LastRound",String.format("预检将于%d秒后执行", preCheckTime * 60)); + preCheckTimer.schedule(preCheckTimerTask, preCheckTime * 60 * 1000); // 加热 for ( var heating : digestionRound.heatings ) { - this.updateTaskStatus("heating", String.format("加热 %d℃ %d分钟", heating.temperature, heating.duration)); + this.updateTaskStatus("Heating", String.format("加热 %d℃ %d分钟", heating.temperature, heating.duration)); this.heatingSlot.heating(heating.temperature, heating.duration); + this.updateTaskStatus("Heating", "加热完成"); } // 等待预检查完成 @@ -298,6 +311,7 @@ public class DigestionTaskThread extends Thread { throw new RuntimeException(e); } } + this.updateTaskStatus("PreCheckWait", "预检完成"); } // 加水定容 @@ -318,45 +332,73 @@ public class DigestionTaskThread extends Thread { // 释放加热位 this.heatingSlot.setTubeRackNo(null); } + this.updateTaskStatus("LastRound", "执行最后一轮配置结束"); } - // 执行消解异常处理配置 + /** + * 执行消解异常处理配置 + * @param errorRound - 异常处理配置 + * @throws InterruptedException - + */ private void executeErrorRound( MdbDigestionSolution.DigestionSolutionErrorRound errorRound ) throws InterruptedException { + String errorTubeIndexListStr = String.join(",", this.errorTubeIndexes.stream().map(Object::toString).toArray(String[]::new)); + this.updateTaskStatus("ErrorRound", String.format("异常轮次开始 : [%s]", errorTubeIndexListStr)); + var device = Device.getInstance(); + var errorSlot = device.heatingTurntable.getErrorSlot(); - // 移至加液区 - device.transferArm.moveTubeRackToLiquidPlate(this.heatingSlot.index); +// this.updateTaskStatus("ErrorRound", "移动异常试管架至加液区"); +// device.transferArm.moveTubeRackToLiquidPlate(errorSlot.index); +// +// var liquidAddition = device.liquidAddition; +// for ( var liquid : errorRound.liquids ) { +// this.updateTaskStatus("ErrorRoundLiquidAdd", String.format("异常加液 %s %d", liquid.type, liquid.volume)); +// liquidAddition.addLiquidToTubes(this.errorTubeIndexes, liquid.type, liquid.volume); +// } +// this.updateTaskStatus("ErrorRoundLiquidAdd", "异常摇匀"); +// liquidAddition.shake(errorRound.shakingCount); +// +// this.updateTaskStatus("ErrorRound", "移动异常试管架至加热区"); +// device.transferArm.moveTubeRackToHeatingTurntable(errorSlot.index); +// +// for ( var heating : errorRound.heatings ) { +// this.updateTaskStatus("ErrorRoundHeating", String.format("异常加热 %d℃ %d分钟", heating.temperature, heating.duration)); +// this.heatingSlot.heating(heating.temperature, heating.duration); +// } +// +// this.updateTaskStatus("ErrorRound", "移动异常试管架至加液区"); +// device.transferArm.moveTubeRackToLiquidPlate(errorSlot.index); - // 加液 - var liquidAddition = device.liquidAddition; - for ( var liquid : errorRound.liquids ) { - this.updateTaskStatus("liquid", String.format("异常加液 %s %d", liquid.type, liquid.volume)); - liquidAddition.addLiquidToTubes(this.errorTubeIndexes, liquid.type, liquid.volume); - } - - // 搬运到加热转盘 - device.transferArm.moveTubeRackToHeatingTurntable(this.heatingSlot.index); + // 拍照检查是否存在消解完成的试管 + this.takeShotAndCheckFinishedTubes(); - // 加热 - for ( var heating : errorRound.heatings ) { - this.updateTaskStatus("heating", String.format("异常加热 %d℃ %d分钟", heating.temperature, heating.duration)); - this.heatingSlot.heating(heating.temperature, heating.duration); + // 如果不存在消解完成的试管则本轮次结束 + if (this.finishedErrorTubeIndexes.isEmpty()) { + return ; } - // 移至加液区 - device.transferArm.moveTubeRackToLiquidPlate(this.heatingSlot.index); - // 拍照检查是否存在消解完成的试管 - this.takeShotAndCheckFinishedTubes(); - // 将试管架放入异常处理区域 - device.transferArm.moveTubeRackToHeatingTurntable(this.heatingSlot.index); +// this.updateTaskStatus("ErrorRound", "移动异常试管架至加热区"); +// device.transferArm.moveTubeRackToHeatingTurntable(errorSlot.index); + // 等待放入空试管架 + device.door.open(); this.waitForEmptyTubeRackPutIn(); - // 取出消解完成的试管 + device.door.close(); + + String finishedTubeIndexListStr = String.join(",", this.finishedErrorTubeIndexes.stream().map(Object::toString).toArray(String[]::new)); + this.updateTaskStatus("ErrorRound", String.format("取出消解完成的试管 : %s", finishedTubeIndexListStr)); device.transferArm.takeOutTubesFromErrorSlot(this.finishedErrorTubeIndexes); + // 等待取出试管架 + device.door.open(); this.waitForTubeRackTakeOut(); + device.door.close(); + // 更新异常试管索引列表 this.errorTubeIndexes.removeAll(this.finishedErrorTubeIndexes); + + String remainTubeIndexListStr = String.join(",", this.errorTubeIndexes.stream().map(Object::toString).toArray(String[]::new)); + this.updateTaskStatus("ErrorRound", String.format("异常轮次执行结束， 异常试管剩余 : [%s]", remainTubeIndexListStr)); } // 等待放入试管架 @@ -435,7 +477,7 @@ public class DigestionTaskThread extends Thread { } catch (InterruptedException e) { throw new RuntimeException(e); } - } + } // @TODO : 这里记录下试管索引 this.updateTaskStatus("TubeCheck", "异常试管已确认"); } diff --git a/src/main/java/com/iflytop/digester/camera/.vs/baslerCamera/FileContentIndex/003a4049-43a8-4685-b725-0ef981a63d09.vsidx b/src/main/java/com/iflytop/digester/camera/.vs/baslerCamera/FileContentIndex/003a4049-43a8-4685-b725-0ef981a63d09.vsidx deleted file mode 100644 index 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