取出样本

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

@@ -8,8 +8,6 @@ public interface DiTask {
     String getUUID();
     // set device
     void setDevice(DiDevice device);
-    // set parameter
-    void setParameter(Object parameter);
     // run
     void run();
 }

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

@@ -1,7 +1,4 @@
 package com.my.graphiteDigesterBg.diframe;
-import com.my.graphiteDigesterBg.MyDevice;
-import com.my.graphiteDigesterBg.diframe.actuator.DiActMotor;
-
 import java.util.ArrayList;
 import java.util.List;
 abstract public class DiTaskBase implements DiTask {
@@ -11,8 +8,6 @@ abstract public class DiTaskBase implements DiTask {
     private final String uuid;
     // status
     private TaskStatus status;
-    // parameter
-    private Object parameter;
     // steps
     private List<DiTaskStep> steps;
     // step index
@@ -51,11 +46,6 @@ abstract public class DiTaskBase implements DiTask {
         this.device = device;
     }
 
-    @Override
-    public void setParameter(Object parameter) {
-        this.parameter = parameter;
-    }
-
     // run
     @Override
     public void run() {

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

@@ -3,6 +3,7 @@ import com.my.graphiteDigesterBg.diframe.util.DiClassHelper;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import java.lang.reflect.Constructor;
+import java.lang.reflect.Field;
 import java.lang.reflect.InvocationTargetException;
 import java.util.HashMap;
 import java.util.List;
@@ -75,8 +76,32 @@ public class DiTaskManager {
             throw new RuntimeException(e);
         }
 
+        // set device
         task.setDevice(this.device);
-        task.setParameter(parameter);
+
+        // set parameter to properties
+        Map<String,Object> parameterMap = (Map<String,Object>)parameter;
+        for ( Map.Entry<String,Object> entry : parameterMap.entrySet() ) {
+            String key = entry.getKey();
+            Field field = null;
+            try {
+                field = task.getClass().getDeclaredField(key);
+            } catch (NoSuchFieldException e) {
+                continue ;
+            }
+
+            Class<?> fieldType = field.getType();
+            if ( !fieldType.isAssignableFrom(entry.getValue().getClass()) ) {
+                throw new RuntimeException("Parameter type mismatch: " + key);
+            }
+
+            field.setAccessible(true);
+            try {
+                field.set(task, entry.getValue());
+            } catch (IllegalAccessException e) {
+                throw new RuntimeException(e);
+            }
+        }
         return task;
     }
 }

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

@@ -46,4 +46,9 @@ public class ResHeatingTubeRackSlotManager extends DiResourceManagerBase {
         }
         throw new RuntimeException("No free slot");
     }
+
+    // get slot by index
+    public ResHeatingTubeRackSlot getSlotByIndex( Integer index ) {
+        return this.slots.get(index);
+    }
 }

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

@@ -0,0 +1,56 @@
+package com.my.graphiteDigesterBg.task;
+import com.my.graphiteDigesterBg.MyDevice;
+import com.my.graphiteDigesterBg.diframe.DiTaskBase;
+import com.my.graphiteDigesterBg.diframe.Task;
+import com.my.graphiteDigesterBg.diframe.actuator.DiActMotor;
+import com.my.graphiteDigesterBg.diframe.actuator.DiActServo;
+import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlot;
+import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlotManager;
+@Task(name="SampleTakeOut")
+public class TaskSampleTakeOut extends DiTaskBase {
+    // slot index
+    public Integer slotIndex;
+
+    @Override
+    public void run() {
+        ResHeatingTubeRackSlotManager heatingSlotMan = this.getResourceManager(ResHeatingTubeRackSlotManager.class);
+        ResHeatingTubeRackSlot slot = heatingSlotMan.getSlotByIndex(this.slotIndex);
+
+        DiActMotor heatPlateMotor = this.getActuator(MyDevice.ACT_HEAT_PLATE_MOTOR, DiActMotor.class);
+        DiActMotor transLrMotor = this.getActuator(MyDevice.ACT_TRANSFER_LR_MOTOR, DiActMotor.class);
+        DiActMotor transUdMotor = this.getActuator(MyDevice.ACT_TRANSFER_UD_MOTOR, DiActMotor.class);
+        DiActServo transferClipServo = this.getActuator(MyDevice.ACT_TRANSFER_CLIP_SERVO, DiActServo.class);
+        DiActMotor liquidPlateMotor = this.getActuator(MyDevice.ACT_LIQUID_PLATE_MOTOR, DiActMotor.class);
+
+        // 加热盘转盘移动到取放架位置
+        heatPlateMotor.moveTo(8580); // @TODO : 这里要根据位置计算 ~~~
+        // 打开试管架盖
+        slot.coverOpen();
+        // 搬运上升到顶部
+        transUdMotor.moveTo(1300);
+        // 搬运移动到加热取架位置
+        transLrMotor.moveTo(1620);
+        // 搬运下降到取架位置
+        transUdMotor.moveTo(130);
+        // 打开试管架夹爪
+        transferClipServo.moveTo(2670);
+        // 搬运上升到顶部
+        transUdMotor.moveTo(1300);
+        // 搬运移动到加液取放架位置
+        transLrMotor.moveTo(365);
+        // 加液转盘移动到取放位置
+        liquidPlateMotor.moveTo(642);
+        // 搬运下降到放架位置
+        transUdMotor.moveTo(540);
+        // 关闭试管架夹爪
+        transferClipServo.moveTo(2073);
+        // 搬运上升到顶部
+        transUdMotor.moveTo(1300);
+        // 关闭试管架盖
+        slot.coverClose();
+        // 搬运移动到就绪位置
+        transLrMotor.moveTo(1000);
+
+        this.setStatus(TaskStatus.FINISHED);
+    }
+}

src/src/main/resources/device.yml

@@ -2,7 +2,7 @@ connection :
   class : com.my.graphiteDigesterBg.diframe.connection.DiConSerialPort
   path : COM7
   baudRate : 921600
-  frameTimeout : 200
+  frameTimeout : 100
   callTimeout : 5000
   mode : binary # text | hex | binary
 # device registers