加液检查液位

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

@@ -30,4 +30,12 @@ public class LiquidController extends UfApiControllerBase {
         bucket.setVolume(bucket.totalVolume);
         return this.success();
     }
+
+    @ResponseBody
+    @PostMapping("/api/liquid/new-bucket")
+    public UfApiResponse newBucket(@RequestBody Map<String,Object> params) {
+        Integer bucketIndex = (Integer)params.get("index");
+        this.device.liquidAddition.liquidNewBucket(bucketIndex);
+        return this.success();
+    }
 }

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

@@ -21,4 +21,14 @@ public class TestController extends UfApiControllerBase {
         this.device.transferArm.takeOutTubesFromErrorSlot(indexes);
         return this.success();
     }
+
+    @ResponseBody
+    @PostMapping("/api/test/liquid-add")
+    public UfApiResponse liquidAdd(@RequestBody Map<String,Object> params) {
+        List<Integer> tubes = (List<Integer>)params.get("tubes");
+        String type = (String)params.get("type");
+        Integer volume = (Integer)params.get("volume");
+        this.device.liquidAddition.addLiquidToTubes(tubes, type, volume);
+        return this.success();
+    }
 }

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

@@ -1,7 +1,12 @@
 package com.iflytop.digester.deviceinstance;
+import com.iflytop.digester.model.MdbRuntimeLog;
+import com.iflytop.digester.underframework.UfActuatorCmdExecutor;
+import com.iflytop.digester.underframework.UfApplication;
 import com.iflytop.digester.underframework.UfCmdSnippetExecutor;
+import com.iflytop.digester.underframework.dao.model.UfMdbNotification;
 import com.iflytop.digester.underframework.dao.model.UfMdbOption;
 import com.iflytop.digester.underframework.dao.model.UfMdbRuntimeVariable;
+import com.iflytop.digester.underframework.util.UfCommon;
 import org.springframework.stereotype.Component;
 import java.util.ArrayList;
 import java.util.List;
@@ -10,6 +15,8 @@ import java.util.Map;
 public class LiquidAdditionInstance {
     // list of liquids
     private List<LiquidAdditionLiquid> liquids;
+    // lock for bucket empty
+    private final Object bucketEmptyLock = new Object();
 
     // setup
     public void setup() {
@@ -38,9 +45,7 @@ public class LiquidAdditionInstance {
     public void addLiquidToTubes(List<Integer> tubes, List<Integer> pumpIndexes, int volume ) {
         var pumpGroupOutIndex = pumpIndexes.get(0);
         var pumpGroupInIndex = pumpIndexes.get(1);
-        var liquid = liquids.get(pumpGroupOutIndex/2);
-        var type = liquids.get(pumpGroupOutIndex/2).type;
-        var rotateDistance = this.convertVolumeToPumpRotationDistance(type, volume);
+        this.bucketVolumeCheck(pumpGroupOutIndex);
 
         for ( int batchIndex=0; batchIndex<4; batchIndex++ ) {
             // 外圈
@@ -49,16 +54,10 @@ public class LiquidAdditionInstance {
             if ( hasGoutTout || hasGoutTin ) {
                 UfCmdSnippetExecutor.execute("LiquidAdditionPrepare.Out." + batchIndex);
                 if ( hasGoutTout ) {
-                    var snippetKey = "LiquidAdditionPump." + pumpGroupOutIndex;
-                    Map<String,Object> snippetParams = Map.of("volume", rotateDistance);
-                    UfCmdSnippetExecutor.execute(snippetKey, snippetParams);
-                    liquid.volume -= volume;
+                    this.pump(pumpGroupOutIndex, volume);
                 }
                 if ( hasGoutTin ) {
-                    var snippetKey = "LiquidAdditionPump." + pumpGroupInIndex;
-                    Map<String,Object> snippetParams = Map.of("volume", rotateDistance);
-                    UfCmdSnippetExecutor.execute(snippetKey, snippetParams);
-                    liquid.volume -= volume;
+                    this.pump(pumpGroupInIndex, volume);
                 }
             }
 
@@ -68,16 +67,10 @@ public class LiquidAdditionInstance {
             if ( hasGinTout || hasGinTin ) {
                 UfCmdSnippetExecutor.execute("LiquidAdditionPrepare.In." + batchIndex);
                 if ( hasGinTout ) {
-                    var snippetKey = "LiquidAdditionPump." + pumpGroupOutIndex;
-                    Map<String,Object> snippetParams = Map.of("volume", rotateDistance);
-                    UfCmdSnippetExecutor.execute(snippetKey, snippetParams);
-                    liquid.volume -= volume;
+                    this.pump(pumpGroupOutIndex, volume);
                 }
                 if ( hasGinTin ) {
-                    var snippetKey = "LiquidAdditionPump." + pumpGroupInIndex;
-                    Map<String,Object> snippetParams = Map.of("volume", rotateDistance);
-                    UfCmdSnippetExecutor.execute(snippetKey, snippetParams);
-                    liquid.volume -= volume;
+                    this.pump(pumpGroupInIndex, volume);
                 }
             }
         }
@@ -85,6 +78,68 @@ public class LiquidAdditionInstance {
         UfCmdSnippetExecutor.execute("LiquidAdditionReset");
     }
 
+    // add liquid to tubes by given pump indexes
+    private void pump( Integer pumpIndex, Integer volume ) {
+        var liquid = liquids.get((0==pumpIndex%2) ? pumpIndex/2 : (pumpIndex-1)/2);
+        var type = liquid.type;
+
+        var snippetKey = "LiquidAdditionPump." + pumpIndex;
+        var rotateDistance = this.convertVolumeToPumpRotationDistance(type, volume);
+        Map<String,Object> snippetParams = Map.of("volume", rotateDistance);
+        UfCmdSnippetExecutor.execute(snippetKey, snippetParams);
+
+        // update liquid volume
+        liquid.setVolumeByConsumed(volume);
+        MdbRuntimeLog.log("LiquidAdd", "酸液消耗：%s - %d [%d/%d]", type, volume, liquid.volume, liquid.totalVolume);
+    }
+
+    // 检查液体量
+    private void bucketVolumeCheck( Integer pumpIndex ) {
+        var liquid = liquids.get((0==pumpIndex%2) ? pumpIndex/2 : (pumpIndex-1)/2);
+        var stateStr = UfActuatorCmdExecutor.execute("LiquidBucketVolumeIO", "module_readio");
+        var state = Integer.parseInt(stateStr);
+        MdbRuntimeLog.log("LiquidBucketVolumeIO", "液桶状态：[%s]", Integer.toString(state, 2));
+        var bucketState = state >> liquid.bucketIndex & 1;
+        if ( 1 == bucketState ) { // 酸液足够
+            return ;
+        }
+
+        // 如果缺少的液体不是水， 则需要发送通知手动补充
+        var env = UfApplication.getApp().getEnv();
+        Integer waterBucketIndex = env.getProperty("app.liquidWaterBucketIndex", Integer.class);
+        assert waterBucketIndex != null;
+        if (!waterBucketIndex.equals(liquid.bucketIndex)) {
+            UfMdbNotification.action("LiquidBucketEmpty", Map.of("liquid", liquid));
+            MdbRuntimeLog.log("LiquidBucketEmpty", "酸液不足，等待手动补充完成 : %s", liquid.type);
+            synchronized ( this.bucketEmptyLock ) {
+                try {
+                    this.bucketEmptyLock.wait();
+                    MdbRuntimeLog.log("LiquidBucketEmpty", "酸液补充完成");
+                } catch (InterruptedException e) {
+                    throw new RuntimeException(e);
+                }
+            }
+            this.bucketVolumeCheck(pumpIndex);
+            return;
+        }
+
+        // 水桶液位不足，自动补充
+        MdbRuntimeLog.log("WaterBucketEmpty", "水桶液位不足，自动补充");
+        UfActuatorCmdExecutor.execute("LiquidBucketVolumeIO", "module_writeio", "8,1");
+        do {
+            // 检查上限位是否达到
+            var waterStateStr = UfActuatorCmdExecutor.execute("LiquidBucketVolumeIO", "module_readio");
+            var waterState = Integer.parseInt(waterStateStr);
+            boolean isBucketFull = 1 == (waterState >> 12 & 1);
+            if ( isBucketFull ) {
+                break;
+            }
+            UfCommon.delay(100);
+        } while ( true );
+        UfActuatorCmdExecutor.execute("LiquidBucketVolumeIO", "module_writeio", "8,0");
+        MdbRuntimeLog.log("WaterBucketEmpty", "水桶液位补充完成");
+    }
+
     // 针对试管加液
     public void addLiquidToTubes(List<Integer> tubes, String type, int volume ) {
         var pumpIndexes = this.getPumpIndexForGroupOutAndIn(type);
@@ -132,4 +187,13 @@ public class LiquidAdditionInstance {
         }
         UfCmdSnippetExecutor.execute("LiquidAddShakeStop");
     }
+
+    // 酸液更换完成
+    public void liquidNewBucket( Integer index ) {
+        var liquid = liquids.get(index);
+        liquid.setVolume(liquid.totalVolume);
+        synchronized ( this.bucketEmptyLock ) {
+            this.bucketEmptyLock.notify();
+        }
+    }
 }

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

@@ -23,4 +23,9 @@ public class LiquidAdditionLiquid {
         this.volume = volume;
         UfMdbRuntimeVariable.setInteger(String.format("LiquidBucketVolume.%d", this.bucketIndex), volume);
     }
+
+    // 通过消耗量设置剩余量
+    public void setVolumeByConsumed( Integer volume ) {
+        this.setVolume( this.volume - volume);
+    }
 }

src/main/java/com/iflytop/digester/underframework/util/UfCommon.java

@@ -0,0 +1,11 @@
+package com.iflytop.digester.underframework.util;
+public class UfCommon {
+    // delay for ms
+    public static void delay( Integer ms ) {
+        try {
+            Thread.sleep(ms);
+        } catch (InterruptedException e) {
+            throw new RuntimeException(e);
+        }
+    }
+}

src/main/resources/application-dev.yml

@@ -36,6 +36,7 @@ app :
   errorSlotIndex : 4
   liquidPeristalticPumpPipeSetupEnable : false
   liquidPipeVolumn : 1
+  liquidWaterBucketIndex : 2
   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
   pylon-wrapper-path: D:/Sige5193/digester/src/main/java/com/iflytop/digester/camera/x64/Debug/baslerCamera.dll