sss

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

@@ -64,7 +64,29 @@ public class StartResetTaskThread extends Thread {
      * @issue : <a href="http://127.0.0.1:5566/issues/85">无法获取加液位置是否存在试管架</a>
      */
     private void setupHeatingSlotCover() {
-        boolean isDoorOpen = false;
+        UfMdbNotification.action("TaskStartResetTubeRackCleanConfirm", new HashMap<>());
+        this.waitAction("TaskStartResetTubeRackCleanConfirm");
+        var cleanConfirm = (Boolean)this.actionResult.get("confirm");
+        if ( cleanConfirm ) {
+            UfCmdSnippetExecutor.execute("DoorOpen");
+            for ( int i=0; i<5; i++ ) {
+                // 将试管架移至加液盘
+                UfCmdSnippetExecutor.execute(String.format("TubeRackMoveToLiquidPlate.%d", i));
+                // 禁用该区位密封盖，用于后续重置状态
+                UfCmdSnippetExecutor.execute(String.format("HeatingSlotCoverDisable.%d", i));
+
+                // 等待取出试管架
+                UfMdbNotification.action("StartResetTubeRackTakeOut", new HashMap<>());
+                this.waitAction("TaskStartResetErrorTubeRackTakeOut");
+                LOG.info("HeatingPlateMotorSlotCover #{} : take out", i);
+
+                // 重新启用密封盖
+                UfCmdSnippetExecutor.execute(String.format("HeatingSlotCoverEnable.%d", i));
+                UfCmdSnippetExecutor.execute(String.format("HeatingSlotCoverServoSetCurPosAsMiddle.%d", i));
+            }
+            UfCmdSnippetExecutor.execute("DoorClose");
+        }
+
         for ( int i=0; i<5; i++ ) {
             this.setProgressMessage("设备初始化 : 检查试管架 " + (i+1) + "/5");
             UfCmdSnippetExecutor.execute(String.format("HeatingSlotCoverEnable.%d",i));
@@ -72,36 +94,7 @@ public class StartResetTaskThread extends Thread {
             var currentPosStr = UfActuatorCmdExecutor.execute(actuatorKey, "motor_read_pos");
             var currentPos = Integer.parseInt(currentPosStr);
             LOG.info("HeatingPlateMotorSlotCover #{} : current pos = {}", i, currentPos);
-
-            // 如果是空的，则初始化位置后继续下一步
-            var rackExistsPos = UfMdbOption.getInteger("HeatingPlateMotorSlotCoverRackExists", 0);
-            if ( currentPos > rackExistsPos ) {
-                UfActuatorCmdExecutor.execute(actuatorKey, "motor_easy_set_current_pos", "2047");
-                continue;
-            }
-
-            // 将试管架移至加液盘
-            UfCmdSnippetExecutor.execute(String.format("TubeRackMoveToLiquidPlate.%d", i));
-            // 打开柜门
-            if ( !isDoorOpen ) {
-                UfCmdSnippetExecutor.execute("DoorOpen");
-                isDoorOpen = true;
-            }
-            // 禁用该区位密封盖，用于后续重置状态
-            UfCmdSnippetExecutor.execute(String.format("HeatingSlotCoverDisable.%d", i));
-
-            // 等待取出试管架
-            UfMdbNotification.action("StartResetTubeRackTakeOut", new HashMap<>());
-            this.waitAction("TaskStartResetErrorTubeRackTakeOut");
-            LOG.info("HeatingPlateMotorSlotCover #{} : take out", i);
-
-            // 重新启用密封盖
-            UfCmdSnippetExecutor.execute(String.format("HeatingSlotCoverEnable.%d", i));
-            UfCmdSnippetExecutor.execute(String.format("HeatingSlotCoverServoSetCurPosAsMiddle.%d", i));
-        }
-
-        if ( isDoorOpen ) {
-            UfCmdSnippetExecutor.execute("DoorClose");
+            UfActuatorCmdExecutor.execute(actuatorKey, "motor_easy_set_current_pos", "2047");
         }
     }