~

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

@@ -1,9 +1,24 @@
 package com.iflytop.digester;
 import com.iflytop.digester.deviceinstance.Device;
+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 org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+import java.util.HashMap;
+import java.util.Map;
+
 public class StartResetTaskThread extends Thread {
+    // logger
+    public static final Logger LOG = LoggerFactory.getLogger(StartResetTaskThread.class);
     // 是否需要放置异常处理试管架
     private Boolean isErrorTubeRackRequired = true;
+    // pause lock
+    private final Object pauseLock = new Object();
 
     @Override
     public void run() {
@@ -11,57 +26,15 @@ public class StartResetTaskThread extends Thread {
         device.setStatus("preparing");
         this.setProgressMessage("设备初始化...");
 
+        UfCmdSnippetExecutor.execute("StartResetInitDevices");
+
         try {
             Thread.sleep(5000);
         } catch (InterruptedException e) {
             throw new RuntimeException(e);
         }
 
-//        this.getDevice().getIO().setValue("LightRed", 1);
-//
-//        this.setProgressMessage("设备初始化 : 关闭设备门");
-//        DiActMotor doorMotor = this.getActuator(MyDevice.ACT_DOOR_MOTOR, DiActMotor.class);
-//        doorMotor.setEnable(true);
-//        MoveDoorClose.execute(this.getDevice());
-//
-//        this.setProgressMessage("设备初始化 : 加液臂复位");
-//        DiActMotor liquidMotor = this.getActuator(MyDevice.ACT_LIQUID_MOTOR, DiActMotor.class);
-//        liquidMotor.setEnable(true);
-//        liquidMotor.reset();
-//        liquidMotor.moveTo("LiquidArmStandby");
-//
-//        this.setProgressMessage("设备初始化 : 关闭夹爪");
-//        DiActServo transferClipServo = this.getActuator(MyDevice.ACT_TRANSFER_CLIP_SERVO, DiActServo.class);
-//        transferClipServo.setEnable(true);
-//        transferClipServo.moveTo("TransClipServoClose");
-//
-//        this.setProgressMessage("设备初始化 : 搬运机械臂上下移动复位");
-//        DiActMotor transUdMotor = this.getActuator(MyDevice.ACT_TRANSFER_UD_MOTOR, DiActMotor.class);
-//        transUdMotor.setEnable(true);
-//        transUdMotor.reset();
-//        transUdMotor.moveTo("TransUdMotorStandby");
-//
-//        this.setProgressMessage("设备初始化 : 搬运机械臂左右移动复位");
-//        DiActMotor transLrMotor = this.getActuator(MyDevice.ACT_TRANSFER_LR_MOTOR, DiActMotor.class);
-//        transLrMotor.setEnable(true);
-//        transLrMotor.reset();
-//        transLrMotor.setMoveOffset("TransLrMotorGlobalOffset");
-//        transLrMotor.moveTo("TransLrMotorStandby");
-//
-//        // @TODO : http://127.0.0.1:5566/issues/39
-//        this.setProgressMessage("设备初始化 : 加液转盘复位");
-//        DiActMotor liquidPlateMotor = this.getActuator(MyDevice.ACT_LIQUID_PLATE_MOTOR, DiActMotor.class);
-//        liquidPlateMotor.setEnable(true);
-//        liquidPlateMotor.reset();
-//
-//        // @TODO : http://127.0.0.1:5566/issues/40
-//        this.setProgressMessage("设备初始化 : 加热盘转盘复位");
-//        DiActMotor heatPlateMotor = this.getActuator(MyDevice.ACT_HEAT_PLATE_MOTOR, DiActMotor.class);
-//        heatPlateMotor.setEnable(true);
-//        heatPlateMotor.reset();
-//        heatPlateMotor.moveTo("HeatPlateStandby");
-//
-//        this.setupHeatingSlotCover();
+        this.setupHeatingSlotCover();
 //        this.setupPeristalticPump();
 //
 //        this.setProgressMessage("设备初始化 : 相机");
@@ -146,63 +119,60 @@ public class StartResetTaskThread extends Thread {
 //        MoveDoorClose.execute(this.getDevice());
 //    }
 //
-//    /**
-//     * 清理试管架
-//     * @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;
-//        Integer errorSlotIndex = this.getDevice().getEnv().getProperty("app.errorSlotIndex",Integer.class);
-//
-//        for ( int i=0; i<5; i++ ) {
-//            this.setProgressMessage("设备初始化 : 检查试管架 " + (i+1) + "/5");
-//            String key = "HeatingPlateMotorSlotCover_" + i;
-//            DiActServo heatSlotCoverServo = this.getActuator(key, DiActServo.class);
-//            heatSlotCoverServo.setEnable(true);
-//            var currentPos = heatSlotCoverServo.getCurrentPos();
-//            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 = heatSlotCoverServo.getLocationValue("HeatingPlateMotorSlotCoverRackExists");
-//            if ( currentPos > rackExistsPos ) {
-//                heatSlotCoverServo.setCurrentPosAsMiddle();
-//                continue;
-//            }
-//
-//            // 如果是空试管架， 又是异常区域则不处理， 因为异常区域始终要有个试管架
-//            var emptyRackExistsPos = heatSlotCoverServo.getLocationValue("HeatingPlateMotorSlotCoverEmptyRackExists");
-//            if ( currentPos > emptyRackExistsPos && null != errorSlotIndex && errorSlotIndex == i ) { // 异常区域存在空试管架
-//                this.isErrorTubeRackRequired = false;
-//                continue;
-//            }
-//
-//            var moveToLiquidPlate = new MoveMoveTubeRackFromHeatPlateToLiquidPlate();
-//            moveToLiquidPlate.setDevice(this.getDevice());
-//            moveToLiquidPlate.slotIndex = i;
-//            moveToLiquidPlate.updateSlotStatus = false;
-//            moveToLiquidPlate.run();
-//
-//            if ( !isDoorOpen ) {
-//                MoveDoorOpen.execute(this.getDevice());
-//                isDoorOpen = true;
-//            }
-//
-//            heatSlotCoverServo.moveTo("HeatingPlateMotorSlotCoverEmpty");
-//            heatSlotCoverServo.setEnable(false);
-//
-//            // 等待取出试管架
-//            DiMdbNotification.taskAction(this, "TaskStartResetErrorTubeRackTakeOut");
-//            this.waitAction("TaskStartResetErrorTubeRackTakeOut");
-//            LOG.info("HeatingPlateMotorSlotCover #{} : take out", i);
-//
-//            heatSlotCoverServo.setEnable(true);
-//            heatSlotCoverServo.setCurrentPosAsMiddle();
-//        }
-//
-//        if ( isDoorOpen ) {
-//            MoveDoorClose.execute(this.getDevice());
-//        }
-//    }
+    /**
+     * 清理试管架
+     * @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;
+        Integer errorSlotIndex = UfApplication.getApp().getEnv().getProperty("app.errorSlotIndex", Integer.class);
+
+        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));
+            var actuatorKey = String.format("HeatingPlateMotorSlotCover_%d", i);
+            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;
+            }
+
+            // 如果是空试管架， 又是异常区域则不处理， 因为异常区域始终要有个试管架
+            var emptyRackExistsPos = UfMdbOption.getInteger("HeatingPlateMotorSlotCoverEmptyRackExists", 0);
+            if ( currentPos > emptyRackExistsPos && null != errorSlotIndex && errorSlotIndex == i ) { // 异常区域存在空试管架
+                this.isErrorTubeRackRequired = false;
+                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");
+        }
+    }
 //
 //    // 异常处理位试管架取出
 //    public void actionErrorTubeRackTakeOut() {
@@ -241,6 +211,26 @@ public class StartResetTaskThread extends Thread {
 //        action.finish();
 //    }
 
+    // wait for continue
+    private void waitAction( String key ) {
+        LOG.info("Start reset wait for action : {}", key);
+        synchronized (pauseLock) {
+            try {
+                pauseLock.wait();
+            } catch (InterruptedException e) {
+                throw new RuntimeException(e);
+            }
+        }
+    }
+
+    // execute action
+    public void executeAction( String key ) {
+        LOG.info("Start reset execute action : {}", key);
+        synchronized (pauseLock) {
+            pauseLock.notifyAll();
+        }
+    }
+
     // set progress message
     private void setProgressMessage(String message) {
         UfMdbRuntimeVariable.setString(message, "device.start.message");

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

@@ -6,11 +6,18 @@ 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.Map;
+
 @Controller
 public class DeviceController extends UfApiControllerBase {
     @Resource
     private Device device;
+    // start reset task thread
+    private StartResetTaskThread startReset = null;
+
 
     @ResponseBody
     @PostMapping("/api/device/start")
@@ -18,8 +25,16 @@ public class DeviceController extends UfApiControllerBase {
         if (!"new".equals(this.device.getStatus())) {
             return this.error("当前设备无法执行启动操作");
         }
-        var startReset = new StartResetTaskThread();
-        startReset.start();
+        this.startReset = new StartResetTaskThread();
+        this.startReset.start();
+        return this.success();
+    }
+
+    @ResponseBody
+    @PostMapping("/api/device/start-action-execute")
+    public UfApiResponse startActionExecute(@RequestBody Map<String, Object> params) {
+        String action = (String)params.get("action");
+        this.startReset.executeAction(action);
         return this.success();
     }
 

src/main/java/com/iflytop/digester/underframework/UfActuatorCmdExecutor.java

@@ -1,9 +1,33 @@
 package com.iflytop.digester.underframework;
+import com.iflytop.digester.underframework.dao.model.UfMdbActuator;
 import com.iflytop.digester.underframework.dao.model.UfMdbActuatorCmd;
+import com.iflytop.digester.underframework.dao.record.UfActiveRecord;
+import java.util.Map;
 public class UfActuatorCmdExecutor {
     // execute cmd
     public static String execute(UfMdbActuatorCmd cmd) {
         var con = UfApplication.getApp().connections.get(cmd.connectionKey);
         return con.execute(cmd);
     }
+
+    // execute cmd
+    public static String execute(String actuatorKey, String cmdKey, String cmdParams ) {
+        var actuator = UfActiveRecord.findOne(UfMdbActuator.class, Map.of("key", actuatorKey));
+        if ( null == actuator ) {
+            throw new RuntimeException("无效的设备KEY ：" + actuatorKey);
+        }
+        var command = UfActiveRecord.findOne(UfMdbActuatorCmd.class, Map.of("cmdKey", cmdKey, "actuatorId", actuator.id));
+        if ( null == command ) {
+            throw new RuntimeException("无效的命令KEY ：" + cmdKey);
+        }
+        if ( null != cmdParams ) {
+            command.parameters = cmdParams;
+        }
+        return execute(command);
+    }
+
+    // execute cmd
+    public static String execute(String actuatorKey, String cmdKey) {
+        return execute(actuatorKey, cmdKey, null);
+    }
 }

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

@@ -1,5 +1,5 @@
 package com.iflytop.digester.underframework.connection;
-import com.iflytop.digester.underframework.dao.model.TsMdbActuator;
+import com.iflytop.digester.underframework.dao.model.UfMdbActuator;
 import com.iflytop.digester.underframework.dao.model.UfMdbActuatorCmd;
 import com.iflytop.digester.underframework.dao.record.UfActiveRecord;
 import com.iflytop.digester.underframework.util.TsByteBuffer;
@@ -109,7 +109,7 @@ public class UfZcancmderWebsocket extends UfConnectionBase {
         }
 
         if ( null == this.response ) {
-            var actuator = UfActiveRecord.findOne(TsMdbActuator.class, actuatorCmd.actuatorId);
+            var actuator = UfActiveRecord.findOne(UfMdbActuator.class, actuatorCmd.actuatorId);
             throw new RuntimeException(String.format("设备 [%s] 响应超时: %s", actuator.name, actuatorCmd.cmdKey));
         }
 
@@ -153,7 +153,7 @@ public class UfZcancmderWebsocket extends UfConnectionBase {
     private void sendCommandRequest(UfMdbActuatorCmd actuatorCmd) {
         String cmd = this.buildCommand(actuatorCmd);
 
-        TsMdbActuator actuator = TsMdbActuator.findOne(TsMdbActuator.class, actuatorCmd.actuatorId);
+        UfMdbActuator actuator = UfMdbActuator.findOne(UfMdbActuator.class, actuatorCmd.actuatorId);
         LOG.info("[Command-Executor:{}] {}({}) => {}", actuator.name, actuatorCmd.cmdKey, actuatorCmd.parameters, cmd);
         if ( !this.client.isOpen() ) {
             throw new RuntimeException("ZCanCmder 连接已断开");
@@ -177,7 +177,7 @@ public class UfZcancmderWebsocket extends UfConnectionBase {
             paramList = List.of(params.split(","));
         }
 
-        TsMdbActuator actuator = TsMdbActuator.findOne(TsMdbActuator.class, actuatorCmd.actuatorId);
+        UfMdbActuator actuator = UfMdbActuator.findOne(UfMdbActuator.class, actuatorCmd.actuatorId);
         int moduleId = Integer.parseInt(actuatorCmd.cmdFlags);
 
         int cmdId = Integer.parseInt(actuatorCmd.cmdId, 16);
@@ -283,7 +283,7 @@ public class UfZcancmderWebsocket extends UfConnectionBase {
         this.executeDeviceCommand(command);
         this.waitForActuatorFinish(command);
 
-        var actuator = UfActiveRecord.findOne(TsMdbActuator.class, command.actuatorId);
+        var actuator = UfActiveRecord.findOne(UfMdbActuator.class, command.actuatorId);
         var encoderAvailable = actuator.getProperty("encoderAvailable");
         if ( null == encoderAvailable || !encoderAvailable.asBoolean() ) {
             return ;

src/main/java/com/iflytop/digester/underframework/controller/TsApiActuator.java

@@ -1,7 +1,7 @@
 package com.iflytop.digester.underframework.controller;
 import com.iflytop.digester.underframework.dao.record.UfActiveRecord;
 import com.iflytop.digester.underframework.dao.record.UfActiveRecordCriteria;
-import com.iflytop.digester.underframework.dao.model.TsMdbActuator;
+import com.iflytop.digester.underframework.dao.model.UfMdbActuator;
 import org.springframework.stereotype.Controller;
 import org.springframework.web.bind.annotation.PostMapping;
 import org.springframework.web.bind.annotation.RequestBody;
@@ -15,13 +15,13 @@ public class TsApiActuator extends UfApiControllerBase {
         String moduleId = (String) params.get("moduleId");
         var criteria = new UfActiveRecordCriteria();
         criteria.conditions = Map.of("moduleId", moduleId);
-        var items = UfActiveRecord.find(TsMdbActuator.class, criteria);
+        var items = UfActiveRecord.find(UfMdbActuator.class, criteria);
         return success(items);
     }
 
     @PostMapping("/api/actuator/save")
     @ResponseBody
-    public UfApiResponse save(@RequestBody TsMdbActuator actuator ) {
+    public UfApiResponse save(@RequestBody UfMdbActuator actuator ) {
         if ( null != actuator.id ) {
             actuator.isNewRecord = false;
         }
@@ -31,7 +31,7 @@ public class TsApiActuator extends UfApiControllerBase {
 
     @PostMapping("/api/actuator/delete")
     @ResponseBody
-    public UfApiResponse delete(@RequestBody TsMdbActuator actuator ) {
+    public UfApiResponse delete(@RequestBody UfMdbActuator actuator ) {
         actuator.delete();
         return success();
     }

src/main/java/com/iflytop/digester/underframework/dao/model/TsMdbActuator.java → src/main/java/com/iflytop/digester/underframework/dao/model/UfMdbActuator.java

@@ -2,13 +2,12 @@ package com.iflytop.digester.underframework.dao.model;
 import com.fasterxml.jackson.core.JsonProcessingException;
 import com.fasterxml.jackson.databind.JsonNode;
 import com.fasterxml.jackson.databind.ObjectMapper;
-import com.iflytop.digester.deviceinstance.HeatingTurntableSlotTube;
 import com.iflytop.digester.underframework.dao.record.UfActiveRecord;
 import com.iflytop.digester.underframework.dao.record.UfActiveRecordField;
 /*
 底层资源，比如电机、传感器等
  */
-public class TsMdbActuator extends UfActiveRecord {
+public class UfMdbActuator extends UfActiveRecord {
     @UfActiveRecordField
     public String moduleId;
 

src/main/resources/application.yml

@@ -31,3 +31,5 @@ mqtt-broker:
   my-topic : "stw-a80"
   transbot-topic : "transbot"
 
+app :
+  errorSlotIndex : 4

web

@@ -1 +1 @@
-Subproject commit e2b87526304961b2bac163b58e372fd54ebffdb3
+Subproject commit 2b865293c1311ba5bcefddcb1df3ac83a97799ef