开机复位

src/src/main/java/com/my/graphiteDigesterBg/task/TaskStartReset.java

@@ -8,6 +8,9 @@ import com.my.graphiteDigesterBg.diframe.actuator.DiActPeristalticPump;
 import com.my.graphiteDigesterBg.diframe.actuator.DiActServo;
 import com.my.graphiteDigesterBg.diframe.model.DiMdbNotification;
 import com.my.graphiteDigesterBg.model.MdbOperationLog;
+import com.my.graphiteDigesterBg.move.MoveDoorClose;
+import com.my.graphiteDigesterBg.move.MoveDoorOpen;
+import com.my.graphiteDigesterBg.move.MoveMoveTubeRackFromHeatPlateToLiquidPlate;
 import com.my.graphiteDigesterBg.move.MoveMoveTubeRackFromLiquidPlateToHeatPlate;
 import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlotManager;
 @Task(name="StartReset")
@@ -23,12 +26,7 @@ public class TaskStartReset extends DiTaskBase {
         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);
-        doorMotor.moveToIO(1, 1);
-
-        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");
+        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);
@@ -36,6 +34,11 @@ public class TaskStartReset extends DiTaskBase {
         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);
@@ -49,14 +52,6 @@ public class TaskStartReset extends DiTaskBase {
         transLrMotor.setMoveOffset("TransLrMotorGlobalOffset");
         transLrMotor.moveTo("TransLrMotorStandby");
 
-        for ( int i=0; i<5; i++ ) {
-            this.setProgressMessage("设备初始化 : 加热盘转盘槽盖关闭 " + (i+1) + "/5");
-            String key = "HeatingPlateMotorSlotCover_" + i;
-            DiActServo heatSlotCoverServo = this.getActuator(key, DiActServo.class);
-            heatSlotCoverServo.setEnable(true);
-            heatSlotCoverServo.setCurrentPosAsMiddle();
-        }
-
         // @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);
@@ -70,6 +65,15 @@ public class TaskStartReset extends DiTaskBase {
         heatPlateMotor.reset();
         heatPlateMotor.moveTo("HeatPlateStandby");
 
+        this.clearTubeRack();
+        for ( int i=0; i<5; i++ ) {
+            this.setProgressMessage("设备初始化 : 加热盘转盘槽盖关闭 " + (i+1) + "/5");
+            String key = "HeatingPlateMotorSlotCover_" + i;
+            DiActServo heatSlotCoverServo = this.getActuator(key, DiActServo.class);
+            heatSlotCoverServo.setEnable(true);
+            heatSlotCoverServo.setCurrentPosAsMiddle();
+        }
+
         int peristalticPumpCount = 1;
         var actuators = this.getDevice().getActuators().getAll();
         for ( var actuator : actuators ) {
@@ -86,7 +90,7 @@ public class TaskStartReset extends DiTaskBase {
 
         this.setProgressMessage("设备初始化 : 定时刷新加热盘温度");
         var slotMan = this.getResourceManager(ResHeatingTubeRackSlotManager.class);
-//        slotMan.startTemperatureRefresh();
+        slotMan.startTemperatureRefresh();
 
         this.setProgressMessage("设备初始化 : 放入异常处理试管架");
         doorMotor.reset(); // 打开设备门
@@ -100,6 +104,58 @@ public class TaskStartReset extends DiTaskBase {
         this.setStatus(TaskStatus.FINISHED);
     }
 
+    /**
+     * 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 clearTubeRack() {
+        boolean isDoorOpen = false;
+
+        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);
+
+            var rackExistsPos = heatSlotCoverServo.getLocationValue("HeatingPlateMotorSlotCoverRackExists");
+            if ( currentPos > rackExistsPos ) {
+                heatSlotCoverServo.setEnable(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);
+        }
+
+        if ( isDoorOpen ) {
+            MoveDoorClose.execute(this.getDevice());
+        }
+    }
+
+    // 异常处理位试管架取出
+    public void actionErrorTubeRackTakeOut() {
+        var action = this.getAction("TaskStartResetErrorTubeRackTakeOut");
+        action.finish();
+    }
+
     // 放入异常处理位试管架
     public void actionErrorTubeRackPutIn() {
         var slotMan = this.getResourceManager(ResHeatingTubeRackSlotManager.class);
@@ -113,6 +169,7 @@ public class TaskStartReset extends DiTaskBase {
         move.slotIndex = slot.index;
         move.setDevice(this.getDevice());
         move.run();
+        slot.lock();
 
         var action = this.getAction("TaskStartResetErrorTubeRackPutIn");
         action.finish();