diff --git a/app.db b/app.db index 57905b2..7b79b5f 100644 Binary files a/app.db and b/app.db differ diff --git a/src/main/java/com/iflytop/digester/controller/TestController.java b/src/main/java/com/iflytop/digester/controller/TestController.java index 78fc4ef..bd80533 100644 --- a/src/main/java/com/iflytop/digester/controller/TestController.java +++ b/src/main/java/com/iflytop/digester/controller/TestController.java @@ -23,6 +23,15 @@ public class TestController extends UfApiControllerBase { } @ResponseBody + @PostMapping("/api/test/move-tube-from-liquid-plate-to-error-slot") + public UfApiResponse moveTubeFromLiquidPlateToErrorSlot(@RequestBody Map params) { + List srcIndexes = (List)params.get("srcIndexes"); + List destIndexes = (List)params.get("destIndexes"); + this.device.transferArm.moveTubesToErrorSlot(srcIndexes, destIndexes); + return this.success(); + } + + @ResponseBody @PostMapping("/api/test/liquid-add") public UfApiResponse liquidAdd(@RequestBody Map params) { List tubes = (List)params.get("tubes"); diff --git a/src/main/java/com/iflytop/digester/deviceinstance/TransferRobotArmInstance.java b/src/main/java/com/iflytop/digester/deviceinstance/TransferRobotArmInstance.java index ed45a60..d6affb6 100644 --- a/src/main/java/com/iflytop/digester/deviceinstance/TransferRobotArmInstance.java +++ b/src/main/java/com/iflytop/digester/deviceinstance/TransferRobotArmInstance.java @@ -36,13 +36,15 @@ public class TransferRobotArmInstance { this.lockArm(lock); // 执行移动试管到异常槽位 - for (Integer tubeIndex : srcIndexes) { + for ( int i=0; i 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)); + snippetParams.put("TransLrSrcPos", UfMdbOption.getInteger("TransLrMotorLiquidPlateTube." + srcTubeIndex, 0)); + snippetParams.put("TransLrDestPos", UfMdbOption.getInteger("TransLrMotorHeatingPlateTube." + destTubeIndex, 0)); + snippetParams.put("LiquidPlatePos", UfMdbOption.getInteger("LiquidPlateTube." + srcTubeIndex, 0)); + snippetParams.put("HeatingPlatePos", UfMdbOption.getInteger("HeatPlateErrorSlotTube." + destTubeIndex, 0)); UfCmdSnippetExecutor.execute(snippetKey, snippetParams); } this.unlockArm(lock);