加热试管卡位初始化

src/src/main/java/com/my/graphiteDigesterBg/MyDevice.java

@@ -2,7 +2,7 @@ package com.my.graphiteDigesterBg;
 import com.my.graphiteDigesterBg.diframe.DiDevice;
 public class MyDevice extends DiDevice {
     public static String ACT_HEAT_PLATE_MOTOR = "heatPlateMotor";
-    public static String ACT_HEAT_SLOT_01_COVER_SERVO = "heatSlot01CoverServo";
+    public static String ACT_HEAT_SLOT_01_COVER_SERVO = "heatSlot0CoverServo";
     public static String ACT_TRANSFER_LR_MOTOR = "transferLeftRightMotor";
     public static String ACT_TRANSFER_UD_MOTOR = "transferUpDownMotor";
     public static String ACT_TRANSFER_CLIP_SERVO = "transferClipServo";
@@ -10,10 +10,10 @@ public class MyDevice extends DiDevice {
     public static String ACT_LIQUID_PLATE_MOTOR = "liquidPlateMotor";
     public static String ACT_LIQUID_PERISTALTIC_PUMP = "liquidPeristalticPump";
 
-    public static String IO_HEAT_SLOT_01_HEATER_01 = "heatSlot01Heater01";
-    public static String IO_HEAT_SLOT_01_HEATER_02 = "heatSlot01Heater02";
-    public static String IO_HEAT_SLOT_01_HEATER_03 = "heatSlot01Heater03";
-    public static String IO_HEAT_SLOT_01_HEATER_04 = "heatSlot01Heater04";
+    public static String IO_HEAT_SLOT_01_HEATER_01 = "heatSlot1Heater1";
+    public static String IO_HEAT_SLOT_01_HEATER_02 = "heatSlot1Heater2";
+    public static String IO_HEAT_SLOT_01_HEATER_03 = "heatSlot1Heater3";
+    public static String IO_HEAT_SLOT_01_HEATER_04 = "heatSlot1Heater4";
     public static String IO_AIR_COMPRESSOR = "airCompressor";
 
     public static String RES_HEATING_TUBE_RACK_SLOT = "HeatingTubeRackSlot";

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

@@ -4,7 +4,7 @@ import org.springframework.boot.ApplicationArguments;
 import org.springframework.boot.ApplicationRunner;
 import org.springframework.core.annotation.Order;
 import org.springframework.stereotype.Component;
-@Order(1)
+@Order(2)
 @Component
 public class DiApplicationRunner implements ApplicationRunner {
     @Resource

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

@@ -6,7 +6,8 @@ public enum DiCommand {
     MODULE_GET_REG("module_get_reg", 0x0106),
     MODULE_ENABLE("module_enable", 0x0114),
     MOTOR_EASY_MOVE_BY("motor_easy_move_by", 0x0212),
-    MOTOR_EASY_MOVE_TO_ZERO("motor_easy_move_to_zero", 0x0214);
+    MOTOR_EASY_MOVE_TO_ZERO("motor_easy_move_to_zero", 0x0214),
+    MOTO_EASY_MOVE_TO("moto_easy_move_to", 0x0213);
 
     // command name
     private final String name;

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

@@ -36,6 +36,7 @@ public class DiDeviceResourceManager {
 
                 LOG.info("(Resource) {} => {}", manAnnotation.name(), resManClass.getName());
                 DiResourceManager man = this.getDiResourceManagerInstance(resManClass);
+                man.setDevice(this.device);
                 this.managersNameMap.put(manAnnotation.name(), man);
                 this.managersClassMap.put(resManClass, man);
             }

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

@@ -1,3 +1,5 @@
 package com.my.graphiteDigesterBg.diframe;
 public interface DiResourceManager {
+    // set device
+    void setDevice( DiDevice device );
 }

src/src/main/java/com/my/graphiteDigesterBg/diframe/actuator/DiActServo.java

@@ -1,11 +1,14 @@
 package com.my.graphiteDigesterBg.diframe.actuator;
-
 import com.my.graphiteDigesterBg.diframe.DiActuatorBase;
-
+import com.my.graphiteDigesterBg.diframe.DiCommand;
 public class DiActServo extends DiActuatorBase {
-    public void moveTo( Integer pos ) {}
+    // move to position
+    public void moveTo( Integer pos ) {
+        this.call(DiCommand.MOTO_EASY_MOVE_TO, pos);
+        this.waitForFinish();
+    }
+
     public void moveBy( Integer delta ) {}
     public void rotate( Integer direction ) {}
     public void stop() {}
-    public void reset() {}
 }

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

@@ -1,12 +1,18 @@
 package com.my.graphiteDigesterBg.resource;
+import com.my.graphiteDigesterBg.diframe.actuator.DiActServo;
 public class ResHeatingTubeRackSlot {
     // index of slot
-    public Integer index;
+    private final Integer index;
     // is slot locked
     private Boolean isLocked;
+    // manager
+    private final ResHeatingTubeRackSlotManager manager;
 
-    public Integer getOperationWindowLocation() {
-        return 0;
+    // constructor
+    public ResHeatingTubeRackSlot( ResHeatingTubeRackSlotManager manager, Integer index ) {
+        this.isLocked = false;
+        this.index = index;
+        this.manager = manager;
     }
 
     // get is slot locked
@@ -23,4 +29,24 @@ public class ResHeatingTubeRackSlot {
     public void unlock() {
         this.isLocked = false;
     }
+
+    // get cover servo
+    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);
+    }
+
+    public Integer getOperationWindowLocation() {
+        return 0;
+    }
 }

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

@@ -1,4 +1,5 @@
 package com.my.graphiteDigesterBg.resource;
+import com.my.graphiteDigesterBg.diframe.DiDevice;
 import com.my.graphiteDigesterBg.diframe.DiResourceManagerBase;
 import com.my.graphiteDigesterBg.diframe.ResourceManager;
 
@@ -6,11 +7,33 @@ import java.util.ArrayList;
 import java.util.List;
 @ResourceManager(name="HeatingTubeRackSlot")
 public class ResHeatingTubeRackSlotManager extends DiResourceManagerBase {
+    // device
+    private DiDevice device;
     // slots
-    private List<ResHeatingTubeRackSlot> slots;
+    private final List<ResHeatingTubeRackSlot> slots;
 
+    // constructor
     public ResHeatingTubeRackSlotManager() {
         this.slots = new ArrayList<>();
+        for (int i = 0; i < 1; i++) {
+            ResHeatingTubeRackSlot slot = new ResHeatingTubeRackSlot(this, i);
+            this.slots.add(slot);
+        }
+    }
+
+    // set device
+    public void setDevice( DiDevice device ) {
+        this.device = device;
+    }
+
+    // get device
+    public DiDevice getDevice() {
+        return this.device;
+    }
+
+    // get slots
+    public List<ResHeatingTubeRackSlot> getSlots() {
+        return this.slots;
     }
 
     // get free slot

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

@@ -4,6 +4,10 @@ import com.my.graphiteDigesterBg.diframe.DiDeviceRegisterManager;
 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;
+import java.util.List;
 @Task(name="StartReset")
 public class TaskStartReset extends DiTaskBase {
     @Override
@@ -17,7 +21,21 @@ public class TaskStartReset extends DiTaskBase {
         liquidMotor.activeConfig();
         liquidMotor.reset();
 
+        // 加热盘Slot初始化
+        ResHeatingTubeRackSlotManager heatingSlotMan = this.getResourceManager(ResHeatingTubeRackSlotManager.class);
+        List<ResHeatingTubeRackSlot> heatingSlots = heatingSlotMan.getSlots();
+        for ( ResHeatingTubeRackSlot slot : heatingSlots ) {
+            // 初始化加热盘卡Slot盖子
+            DiActServo slotCoverServo = slot.getCoverServo();
+            slotCoverServo.setEnable(true);
+            registers.resetAllByModuleId(slotCoverServo.getMid());
+            slotCoverServo.activeConfig();
+        }
 
+        // 打开所有加热盘上的试管架盖： 假设断电时正在准备取试管架或者试管
+        for ( ResHeatingTubeRackSlot slot : heatingSlots ) {
+            slot.coverOpen();
+        }
 
         this.setStatus(TaskStatus.FINISHED);
     }

src/src/main/resources/device.yml

@@ -6,6 +6,7 @@ connection :
   mode : binary # text | hex | binary
 # device registers
 registers :
+  # 加液电机
   - {key: "LiquidMotorShaft" , mid : 41, index : 1051, defaultValue : 1}
   - {key: "LiquidMotorOneCirclePulse" , mid : 41, index : 1052, defaultValue : 10000}
   - {key: "LiquidMotorOneCirclePulseDenominator" , mid : 41, index : 1053, defaultValue : 18}
@@ -16,3 +17,6 @@ registers :
   - {key: "LiquidMotorRunToZeroDec" , mid : 41, index : 1074, defaultValue : 30}
   - {key: "LiquidMotorLookZeroEdgeSpeed" , mid : 41, index : 1075, defaultValue : 25}
   - {key: "LiquidMotorLookZeroEdgeDec" , mid : 41, index : 1076, defaultValue : 30}
+  # 加热盘 Slot Cover
+  - {key: "HeatingPlateSlot1CoverServeMotorDefaultVelocity" , mid : 12, index : 1054, defaultValue : 150}
+  - {key: "HeatingPlateSlot1CoverServeMotorDefaultTorque" , mid : 12, index : 1077, defaultValue : 330}