~

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");
     }
 

src/main/java/com/iflytop/digester/camera/DiComBaslerCamera.cpp

@@ -246,7 +246,7 @@ JNIEXPORT jobject JNICALL CAMERA(deviceGrabSingleFrame)(JNIEnv* env, jobject, jl
         return nullptr;
     }
 
-    jclass javaGrabResultClass = env->FindClass("com/my/graphiteDigesterBg/diframe/component/baslerCamera/DiComBaslerCamera$GrabResult");
+    jclass javaGrabResultClass = env->FindClass("com/iflytop/digester/camera/DiComBaslerCamera$GrabResult");
     if (javaGrabResultClass == NULL) {
         throwException(env, "unable to find java grab result class");
         return NULL;

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

@@ -1,15 +1,42 @@
 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.opencv.core.Core;
+import org.opencv.core.Mat;
+import org.opencv.core.MatOfByte;
+import org.opencv.core.Rect;
+import org.opencv.imgcodecs.Imgcodecs;
 import org.springframework.stereotype.Controller;
 import org.springframework.web.bind.annotation.PostMapping;
 import org.springframework.web.bind.annotation.ResponseBody;
+
+import java.util.Base64;
 import java.util.Map;
 @Controller
 public class CameraController extends UfApiControllerBase {
+    @Resource
+    private Device device;
+
     @ResponseBody
     @PostMapping("/api/camera/take-shot")
     public UfApiResponse takeShot() {
-        return this.success(Map.of("data", "https://avatars.githubusercontent.com/u/53512912?v=4"));
+        var srcImageMat = this.device.camera.grabToMat();
+
+        // 翻转图像
+        Mat flippedImgMat = new Mat();
+        Core.flip(srcImageMat, flippedImgMat, 1);
+
+        // 裁剪图像
+        Rect croppedRoi = new Rect(240, 120, 800, 800);
+        Mat croppedImgMat = new Mat(flippedImgMat, croppedRoi);
+
+        MatOfByte imageMob = new MatOfByte();
+        Imgcodecs.imencode(".png", croppedImgMat, imageMob);
+        byte[] imageBytes = imageMob.toArray();
+        String base64Image = Base64.getEncoder().encodeToString(imageBytes);
+        String base64Data = "data:image/image/png;base64," + base64Image;
+        return this.success(Map.of("data",base64Data));
     }
 }

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

@@ -0,0 +1,25 @@
+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.RequestBody;
+import org.springframework.web.bind.annotation.ResponseBody;
+
+import java.util.List;
+import java.util.Map;
+@Controller
+public class TestController extends UfApiControllerBase {
+    @Resource
+    private Device device;
+
+    @ResponseBody
+    @PostMapping("/api/test/move-tube-from-error-slot-to-liquid-plate")
+    public UfApiResponse moveTubeFromErrorSlotToLiquidPlate(@RequestBody Map<String,Object> params) {
+        List<Integer> indexes = (List<Integer>)params.get("indexes");
+        this.device.transferArm.takeOutTubesFromErrorSlot(indexes);
+        return this.success();
+    }
+}

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

@@ -117,4 +117,16 @@ public class LiquidAdditionInstance {
         }
         throw new RuntimeException("未找到对应的液体类型");
     }
+
+    // 摇匀
+    public void shake( Integer count ) {
+        if ( 0 == count ) {
+            return ;
+        }
+        UfCmdSnippetExecutor.execute("LiquidAddShakeSetup");
+        for ( int i=0; i<count; i++ ) {
+            UfCmdSnippetExecutor.execute("LiquidAddShake");
+        }
+        UfCmdSnippetExecutor.execute("LiquidAddShakeStop");
+    }
 }

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

@@ -22,9 +22,9 @@ public class TransferRobotArmInstance {
             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));
+            snippetParams.put("HeatingPlatePos", UfMdbOption.getInteger("HeatPlateErrorSlotTube." + tubeIndex, 0));
+            snippetParams.put("TransLrSrcPos", UfMdbOption.getInteger("TransLrMotorHeatingPlateTube." + tubeIndex, 0));
+            snippetParams.put("TransLrDestPos", UfMdbOption.getInteger("TransLrMotorLiquidPlateTube." + tubeIndex, 0));
             UfCmdSnippetExecutor.execute(snippetKey, snippetParams);
         }
         this.unlockArm(lock);

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

@@ -42,6 +42,7 @@ public class MdbDigestionSolution extends UfActiveRecord {
                 liquid.volume = liquidNode.get("volume").asInt();
                 round.liquids.add(liquid);
             });
+            round.shakingCount = roundNode.get("shaking").asInt();
             // 加热配置
             round.heatings = new ArrayList<>();
             roundNode.get("heating").forEach(heatingNode -> {
@@ -74,6 +75,7 @@ public class MdbDigestionSolution extends UfActiveRecord {
             liquid.volume = liquidNode.get("volume").asInt();
             errorRound.liquids.add(liquid);
         });
+        errorRound.shakingCount = errorRoundsJsonTree.get("shaking").asInt();
         // 加热配置
         errorRound.heatings = new ArrayList<>();
         errorRoundsJsonTree.get("heating").forEach(heatingNode -> {
@@ -104,6 +106,8 @@ public class MdbDigestionSolution extends UfActiveRecord {
 
         // 加液配置
         public List<DigestionSolutionRoundLiquid> liquids;
+        // 摇匀次数
+        public Integer shakingCount;
         // 加热配置
         public List<DigestionSolutionRoundHeating> heatings;
         // 加水定容
@@ -122,6 +126,8 @@ public class MdbDigestionSolution extends UfActiveRecord {
 
         // 加液配置
         public List<DigestionSolutionErrorLiquid> liquids;
+        // 摇匀次数
+        public Integer shakingCount;
         // 加热配置
         public List<DigestionSolutionErrorHeating> heatings;
         // 最大轮数

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

@@ -1,6 +1,10 @@
 package com.iflytop.digester.model;
 import com.iflytop.digester.underframework.dao.record.UfActiveRecord;
 import com.iflytop.digester.underframework.dao.record.UfActiveRecordField;
+
+import java.text.SimpleDateFormat;
+import java.util.Date;
+
 public class MdbDigestionTaskLog extends UfActiveRecord {
     @UfActiveRecordField
     public String taskId;
@@ -14,6 +18,9 @@ public class MdbDigestionTaskLog extends UfActiveRecord {
     @UfActiveRecordField
     public Long timestamp;
 
+    @UfActiveRecordField
+    public String time;
+
     // get table name
     public static String getTableName() {
         return "app_digestion_task_logs";
@@ -26,6 +33,8 @@ public class MdbDigestionTaskLog extends UfActiveRecord {
         log.action = action;
         log.content = content;
         log.timestamp = System.currentTimeMillis();
+        SimpleDateFormat simpleDateFormat = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss.SSS");
+        log.time = simpleDateFormat.format(new Date());
         log.save();
     }
 }

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

@@ -158,13 +158,7 @@ public class UfZcancmderWebsocket extends UfConnectionBase {
 
         UfMdbActuator actuator = UfMdbActuator.findOne(UfMdbActuator.class, actuatorCmd.actuatorId);
         LOG.info("        [Command-Executor:{}] {}({}) => {}", actuator.name, actuatorCmd.cmdKey, actuatorCmd.parameters, cmd);
-        if ( !this.client.isOpen() ) {
-            try {
-                this.client.connectBlocking();
-            } catch (InterruptedException e) {
-                throw new RuntimeException(e);
-            }
-        }
+        this.reconnectIfClosed();
 
         TimerTask task = new TimerTask() {
             @Override
@@ -176,6 +170,36 @@ public class UfZcancmderWebsocket extends UfConnectionBase {
         timer.schedule(task, 10);
     }
 
+    // reconnect if closed
+    private void reconnectIfClosed() {
+        if ( this.client.isOpen() ) {
+            return ;
+        }
+
+        var connectThread = new Thread(() -> {
+            do {
+                LOG.info("[Connection#{}] reconnecting ...", this.name);
+                try {
+                    this.client.reconnectBlocking();
+                } catch (InterruptedException e) {
+                    throw new RuntimeException(e);
+                }
+                try {
+                    Thread.sleep(1000);
+                } catch (InterruptedException e) {
+                    throw new RuntimeException(e);
+                }
+            } while ( true );
+        });
+
+        connectThread.start();
+        try {
+            connectThread.join();
+        } catch (InterruptedException e) {
+            throw new RuntimeException(e);
+        }
+    }
+
     // build command
     private String buildCommand(UfMdbActuatorCmd actuatorCmd) {
         String params = actuatorCmd.parameters.trim();

src/main/resources/application-dev.yml

@@ -34,7 +34,7 @@ mqtt-broker:
 
 app :
   errorSlotIndex : 4
-  liquidPeristalticPumpPipeSetupEnable : true
+  liquidPeristalticPumpPipeSetupEnable : false
   liquidPipeVolumn : 1
   opencv-library-path: D:/ProgramFiles/OpenCV/opencv/build/java/x64/opencv_java490.dll
   pylon-library-path: D:/ProgramFiles/Pylon5/Runtime/x64/PylonC_v5_2.dll

web

@@ -1 +1 @@
-Subproject commit 464111807ce66ce1d0f0652455cc17689d12ab7e
+Subproject commit dee18622264b9391dedae06957d92d1c834b5c80