From e838e6fa0273601a60b302edbb4ebe4877ed9019 Mon Sep 17 00:00:00 2001
From: sige <sige@sige.com>
Date: Wed, 24 Apr 2024 14:42:02 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8D=EF=BC=9A=E5=B0=86=E8=AF=95?=
 =?UTF-8?q?=E7=AE=A1=E6=94=BE=E5=85=A5=E5=BC=82=E5=B8=B8=E5=A4=84=E7=90=86?=
 =?UTF-8?q?=E5=8C=BA=E8=AF=95=E7=AE=A1=E4=BD=8D=E7=BD=AE=E4=B8=8D=E5=AF=B9?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 app.db                                             | Bin 385024 -> 385024 bytes
 .../digester/controller/TestController.java        |   9 +++++++++
 .../deviceinstance/TransferRobotArmInstance.java   |  12 +++++++-----
 3 files changed, 16 insertions(+), 5 deletions(-)

diff --git a/app.db b/app.db
index 57905b2899b342629bd25c262b90c2467923db01..7b79b5fa704d852c12e43c1a7f410288d63baabf 100644
GIT binary patch
delta 2743
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z0R>~U=3+)mVw%7Yj7YFesG1<{7Rtkxl4v3^CO{O30pF?7KkB)ysWG7L9}|Df<hysy
zeCOVKzH`pqJUDan;LPqSVS=KlRq#9j5B+M+q9@*6(|bsak)iZ4ys1X%V=N9DG5QI7
z+u)ryP(LOo(jCbhSEQH3&Lp__uad#8P4V=NxOcFklR8mWF0~1l#YN=bT)c%2b;Sr&
z*FvtQ7|3w*8Y=io9;v=zySA<>fgP+ShOTSqwx4&Alh^Xd(A)sowjQEDaXd3LG|#k^
zRm9L&0?X1p4e71}hL!=0fu2X6VXg5@Ps<0or?wGGPgO%z(=B8=rj88Vw~(U+K2jYZ
zRQv$kYpul4v<)K+4HdbjX@Oy=BgYTHx2>D1t_Qjw_$!HFv<b7B{zF3*A_M!o3-^r4
zeW&PKMXrHjn1hsXFtw36nCQPp*~47FWl0w!wrshDyjxWL`3AL?k&?;EsH>XI46Li9
z&(YB*v+4569bM=5^_+jP_rig`i#uNrbGw?<$DJphaUMG`lWvIJKvA&<!mvf1W~$2m
zmFXM0?EJo$E^O<5VQm#Xu(m4p^p6SUcEq%(+33_BI`e`k#Ro)*`C)&8rz1*%U?v9Z
z|J#^?pN{{1OzE#Ec`~N>(9k?4=2Ol1>!I~b><oa1i&-ZAASL5hi;a^Yx;J7oI5E6}
ziSLE!Rl_j-D}em~*qf;4=ui)vVVAK(Fjsr{2Zmh>V9pWvNM_anC@TkWgn$6R%n<-*
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zNmBr}6VL%*yg!3;qbr#7PcY~lUC#(h0USJ#!L!EZF+vXvmX9?u!esz&0)TXv@pk|u
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zFZ3olPHn?;uDNyohBaj^vpuH16s2Lhul8=epe)c#MQICjyEkcyW+3R1no+G93)R9x
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zcJ;+~wx9oS>-0V3;#(hl74=PeVy@~*Q#-TZs4C0Wmy%AC*Ph5e!wP8Xu0p7jpIwbw
Xw+dZ}3~*P%CL+kd%)r^t+3NW3-nSgA

delta 396
zcmZoTAl`65e1bIZMg|6kI3SJ$V&;h&=8PLRCM?*`#|7j@F-~XTE##=;6P?U=z+|$^
z0WSlNuRPTp8k~oi?z3|;|Km4d&FALgIK$q;!@y<B5y&LOD$D+#aXPyZn=pSY?;Ae5
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zz$-TP7KcVwzR=KZ;*7RTLM@h!EI^K-aht8QDGNUbhvf7|1y+^q)sl?w82J<o4IZ^L
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zVBX0;*+8Iv+5}dX<tz_aCUB^5*#bSmZ!(>)fYnNXX9-_Ak0uWTe;dy?5ZoSCz?#De
z)KR_Nwu<!>D=QPw-M-s-8d!huGfOd-O=q9LYPvblz>0Z$*<{u}8v!<+O$_`6e9!oz
ldC&6N@N5ElY#t9+BfAQFXsDz)tMzopDxe=8++kH<1_0k(aLWJy

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<String,Object> params) {
+        List<Integer> srcIndexes = (List<Integer>)params.get("srcIndexes");
+        List<Integer> destIndexes = (List<Integer>)params.get("destIndexes");
+        this.device.transferArm.moveTubesToErrorSlot(srcIndexes, destIndexes);
+        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");
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<srcIndexes.size(); i++ ) {
+            Integer srcTubeIndex = srcIndexes.get(i);
+            Integer destTubeIndex = destIndexes.get(i);
             String snippetKey = "TubeMoveToErrorSlot";
             Map<String,Object> 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);