~~

src/src/main/java/com/my/graphiteDigesterBg/diframe/DiDeviceRegisterManager.java

@@ -42,16 +42,6 @@ public class DiDeviceRegisterManager {
         }
     }
 
-    // reset register to default value
-    public void resetAllByModuleId( Integer mid ) {
-        for ( DiDeviceRegister register : this.registers.values() ) {
-            if ( register.mid.equals(mid) ) {
-                LOG.info("[Register:${}] {}@{} = {}", register.key, register.index, register.mid, register.defaultValue);
-                this.device.call(DiCommand.MODULE_SET_REG, register.mid, register.index, register.defaultValue);
-            }
-        }
-    }
-
     // get actuator
     public void get( String id ) {
         this.registers.get(id);
@@ -62,4 +52,13 @@ public class DiDeviceRegisterManager {
         DiCommandResponse response = this.device.call(DiCommand.MODULE_GET_REG, mid, index);
         return response.readInteger(0);
     }
+
+    // get value
+    public Integer getValue( String id ) {
+        DiDeviceRegister reg = this.registers.get(id);
+        if ( null == reg ) {
+            throw new RuntimeException("Invalid register id: " + id);
+        }
+        return this.getValue(reg.mid, reg.index);
+    }
 }

src/src/main/java/com/my/graphiteDigesterBg/diframe/connection/DiConSerialPort.java

@@ -147,7 +147,7 @@ public class DiConSerialPort implements DiDeviceConnection {
     }
 
     @Override
-    public void call(DiCommandRequest request) {
+    synchronized public void call(DiCommandRequest request) {
         Boolean commandLogEnable = this.device.getConfig("connection.commandLogEnable", Boolean.class);
 
         this.requests.add(request);

src/src/main/java/com/my/graphiteDigesterBg/move/MoveHeatPlateSlotHeating.java

@@ -0,0 +1,93 @@
+package com.my.graphiteDigesterBg.move;
+import com.my.graphiteDigesterBg.diframe.DiTaskMoveBase;
+import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlot;
+import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlotManager;
+import java.util.Timer;
+import java.util.TimerTask;
+public class MoveHeatPlateSlotHeating extends DiTaskMoveBase {
+    // finish callback
+    public interface FinishCallback {
+        void callback();
+    }
+
+    // slot index
+    public Integer slotIndex;
+    // temperature
+    public Integer temperature;
+    // duration
+    public Integer duration;
+    // done callback
+    private FinishCallback finishCallback;
+    // slot
+    private ResHeatingTubeRackSlot slot;
+    // is heating on
+    private Boolean isHeatingOn;
+
+    @Override
+    public void run() {
+        var slotMan = this.getResourceManager(ResHeatingTubeRackSlotManager.class);
+        this.slot = slotMan.getSlotByIndex(this.slotIndex);
+        this.slot.destTemperature = this.temperature * 100;
+        this.slot.heatingDuration = this.duration * 60;
+        this.slot.heatingStartedAt = null;
+        this.slot.isHeating = true;
+        this.isHeatingOn = false;
+
+        String message = String.format("试管架%d : 开始加热", this.slotIndex);
+        this.getDevice().getRuntimeVariables().setString(message, "StatusMessage");
+        this.heating();
+    }
+
+    // on done
+    public void onFinish( FinishCallback callback ) {
+        this.finishCallback = callback;
+    }
+
+    // heating
+    public void heating() {
+        String heaterKey = "HeatPlateSlotHeater" + this.slotIndex;
+        // 如果温度低于目标温度，打开加热器
+        if ( this.slot.temperature < this.slot.destTemperature ) {
+            if ( !this.isHeatingOn ) {
+                this.getDevice().getIO().setValue(heaterKey, 1);
+                this.isHeatingOn = true;
+            }
+            this.heatingContinue();
+            return ;
+        }
+
+        // 如果温度高于目标温度，关闭加热器
+        if ( this.isHeatingOn ) {
+            this.getDevice().getIO().setValue(heaterKey, 0);
+            this.isHeatingOn = false;
+        }
+
+        // 开始计时
+        if ( null == this.slot.heatingStartedAt ) {
+            this.slot.heatingStartedAt = (int)(System.currentTimeMillis()/1000);
+        }
+
+        // 检查时间到了没有 ~~~
+        var duration = System.currentTimeMillis()/1000 - this.slot.heatingStartedAt;
+        if ( duration > this.slot.heatingDuration ) {
+            String message = String.format("试管架%d : 加热完成", this.slotIndex);
+            this.getDevice().getRuntimeVariables().setString(message, "StatusMessage");
+            this.slot.isHeating = false;
+            this.finishCallback.callback();
+            return ;
+        }
+
+        this.heatingContinue();
+    }
+
+    // continue heating
+    private void heatingContinue() {
+        var timer = new Timer();
+        timer.schedule(new TimerTask() {
+            @Override
+            public void run() {
+                MoveHeatPlateSlotHeating.this.heating();
+            }
+        }, 5000);
+    }
+}

src/src/main/java/com/my/graphiteDigesterBg/resource/ResHeatingTubeRackSlot.java

@@ -1,16 +1,8 @@
 package com.my.graphiteDigesterBg.resource;
-import com.fasterxml.jackson.annotation.JsonIgnore;
-import com.my.graphiteDigesterBg.MyDevice;
-import com.my.graphiteDigesterBg.diframe.DiTask;
-import com.my.graphiteDigesterBg.diframe.actuator.DiActMotor;
-import com.my.graphiteDigesterBg.diframe.actuator.DiActServo;
-import com.my.graphiteDigesterBg.task.TaskDigestion;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
-
 import java.util.ArrayList;
 import java.util.List;
-
 public class ResHeatingTubeRackSlot {
     // logger
     public static final Logger LOG = LoggerFactory.getLogger(ResHeatingTubeRackSlot.class);
@@ -110,21 +102,4 @@ public class ResHeatingTubeRackSlot {
     public Boolean getIsHeating() {
         return this.isHeating;
     }
-
-    // get cover servo
-    @JsonIgnore
-    public DiActServo getCoverServo() {
-        String servoKey = "heatSlot" + this.index.toString() + "CoverServo";
-        return (DiActServo) this.manager.getDevice().getActuators().get(servoKey);
-    }
-
-    // open cover
-    public void coverOpen() {
-        this.getCoverServo().moveTo(1000);
-    }
-
-    // close cover
-    public void coverClose() {
-        this.getCoverServo().moveTo(2047);
-    }
 }

src/src/main/java/com/my/graphiteDigesterBg/resource/ResHeatingTubeRackSlotManager.java

@@ -1,11 +1,13 @@
 package com.my.graphiteDigesterBg.resource;
 import com.my.graphiteDigesterBg.diframe.DiResourceManagerBase;
 import com.my.graphiteDigesterBg.diframe.ResourceManager;
-import java.util.ArrayList;
-import java.util.List;
-import java.util.Objects;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import java.util.*;
 @ResourceManager(name="HeatingTubeRackSlot")
 public class ResHeatingTubeRackSlotManager extends DiResourceManagerBase {
+    // logger
+    public static final Logger LOG = LoggerFactory.getLogger(ResHeatingTubeRackSlotManager.class);
     // slots
     private final List<ResHeatingTubeRackSlot> slots;
     // error slot index
@@ -26,6 +28,24 @@ public class ResHeatingTubeRackSlotManager extends DiResourceManagerBase {
         this.errorSlotIndex = this.getDevice().getEnv().getProperty("app.errorSlotIndex",Integer.class);
         assert Objects.nonNull(this.errorSlotIndex);
         this.slots.get(this.errorSlotIndex).setupAsErrorSlot();
+
+        // start a timer task to refresh slot temperature every 5 seconds
+        var timer = new Timer();
+        timer.schedule(new TimerTask() {
+            @Override
+            public void run() {
+                ResHeatingTubeRackSlotManager.this.refreshSlotTemperature();
+            }
+        }, 0, 5000);
+    }
+
+    // refresh slot temperature
+    public void refreshSlotTemperature() {
+        var registers = this.getDevice().getRegisters();
+        for (ResHeatingTubeRackSlot slot : this.slots) {
+            slot.temperature = registers.getValue("HeatingPlateSlotTemperature" + slot.index);
+            LOG.info("[Heating Slot {}] temperature: {}", slot.index, slot.temperature);
+        }
     }
 
     // get resource data

src/src/main/java/com/my/graphiteDigesterBg/step/StepHeating.java

@@ -2,12 +2,10 @@ package com.my.graphiteDigesterBg.step;
 import com.my.graphiteDigesterBg.diframe.DiTask;
 import com.my.graphiteDigesterBg.diframe.DiTaskStepBase;
 import com.my.graphiteDigesterBg.diframe.TaskStep;
-import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlotManager;
+import com.my.graphiteDigesterBg.move.MoveHeatPlateSlotHeating;
 import com.my.graphiteDigesterBg.task.TaskDigestion;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
-import java.util.Timer;
-import java.util.TimerTask;
 @TaskStep(name="Heating")
 public class StepHeating extends DiTaskStepBase {
     // logger
@@ -16,28 +14,20 @@ public class StepHeating extends DiTaskStepBase {
     public Integer temperature;
     // duration in seconds
     public Integer duration;
-    // timer
-    private Timer timer;
 
     @Override
     public void run() {
         var task = this.getTask(TaskDigestion.class);
-        var slotMan = task.getDevice().getResource().getManager(ResHeatingTubeRackSlotManager.class);
-        var slot = slotMan.getSlotByIndex(task.slotIndex);
-        slot.destTemperature = this.temperature;
-        slot.heatingDuration = this.duration * 60;
-        slot.heatingStartedAt = (int)(System.currentTimeMillis()/1000);
-        slot.heatingOn();
-        task.setStatus(DiTask.TaskStatus.WAITING);
-        TimerTask timerTask = new TimerTask() {
-            @Override
-            public void run() {
-                slot.heatingOff();
-                task.setStatus(DiTask.TaskStatus.READY);
-            }
-        };
 
-        this.timer = new Timer();
-        this.timer.schedule(timerTask, this.duration * 1000 * 60);
+        var heating = new MoveHeatPlateSlotHeating();
+        heating.slotIndex = task.slotIndex;
+        heating.temperature = this.temperature;
+        heating.duration = this.duration * 60;
+        heating.setDevice(task.getDevice());
+        heating.onFinish(() -> {
+            task.setStatus(DiTask.TaskStatus.READY);
+        });
+        heating.run();
+        task.setStatus(DiTask.TaskStatus.WAITING);
     }
 }

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

@@ -3,11 +3,8 @@ import com.my.graphiteDigesterBg.diframe.DiTask;
 import com.my.graphiteDigesterBg.diframe.DiTaskBase;
 import com.my.graphiteDigesterBg.diframe.Task;
 import com.my.graphiteDigesterBg.model.MdbOperationLog;
-import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlotManager;
-import org.slf4j.Logger;
-import org.slf4j.LoggerFactory;
+import com.my.graphiteDigesterBg.move.MoveHeatPlateSlotHeating;
 import java.util.Timer;
-import java.util.TimerTask;
 @Task(name="Heating")
 public class TaskHeating extends DiTaskBase {
     // slot index
@@ -23,27 +20,15 @@ public class TaskHeating extends DiTaskBase {
     public void run() {
         MdbOperationLog.log(this.getUser(), "试管架%d : 样本加热 温度=%d, 时间=%d", this.slotIndex, this.temperature, this.duration);
 
-        var slotMan = this.getResourceManager(ResHeatingTubeRackSlotManager.class);
-        var slot = slotMan.getSlotByIndex(this.slotIndex);
-        slot.destTemperature = this.temperature;
-        slot.heatingDuration = this.duration * 60;
-        slot.heatingStartedAt = (int)(System.currentTimeMillis()/1000);
-
-        slot.isHeating = true;
-        String heaterKey = "HeatPlateSlotHeater" + this.slotIndex;
-        this.getDevice().getIO().setValue(heaterKey, 1);
-
+        var heating = new MoveHeatPlateSlotHeating();
+        heating.slotIndex = this.slotIndex;
+        heating.temperature = this.temperature;
+        heating.duration = this.duration;
+        heating.setDevice(this.getDevice());
+        heating.onFinish(() -> {
+            this.setStatus(DiTask.TaskStatus.FINISHED);
+        });
+        heating.run();
         this.setStatus(DiTask.TaskStatus.WAITING);
-        TimerTask timerTask = new TimerTask() {
-            @Override
-            public void run() {
-                TaskHeating.this.getDevice().getIO().setValue(heaterKey, 0);
-                slot.isHeating = false;
-                TaskHeating.this.setStatus(TaskStatus.FINISHED);
-            }
-        };
-
-        this.timer = new Timer();
-        this.timer.schedule(timerTask, this.duration * 1000 * 60);
     }
 }

src/src/main/resources/device.yml

@@ -400,6 +400,9 @@ io :
 
 # device registers
 registers :
-  # 加热盘 Slot Cover
-  - {key: "HeatingPlateSlot1CoverServeMotorDefaultVelocity" , mid : 12, index : 1054, defaultValue : 150}
-  - {key: "HeatingPlateSlot1CoverServeMotorDefaultTorque" , mid : 12, index : 1077, defaultValue : 330}
+  # 加热盘 Slot 温度
+  - {key: "HeatingPlateSlotTemperature0", mid: 80, index: 201, defaultValue: 0}
+  - {key: "HeatingPlateSlotTemperature1", mid: 80, index: 200, defaultValue: 0}
+  - {key: "HeatingPlateSlotTemperature2", mid: 80, index: 202, defaultValue: 0}
+  - {key: "HeatingPlateSlotTemperature3", mid: 80, index: 203, defaultValue: 0}
+  - {key: "HeatingPlateSlotTemperature4", mid: 80, index: 204, defaultValue: 0}

src/web/src/pages/main/contents/OperationTubeRackTemperature.vue

@@ -10,7 +10,7 @@
           </a-progress>
         </div>
         <div class="ml-2 bg-amber-500 rounded-2xl py-2 px-4 text-white w-0 grow text-center">
-          <p class="mb-0 text-2xl">{{ tubeRackSlot.temperature || '---' }}℃</p>
+          <p class="mb-0 text-2xl">{{ tubeRackSlot.temperature / 100 }}℃</p>
           <p class="mb-0">A - {{ tubeRackSlot.index + 1 }}</p>
         </div>
       </div>