~

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

@@ -3,21 +3,27 @@ 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.model.DiMdbNotification;
+import com.my.graphiteDigesterBg.model.MdbDigestion;
 import com.my.graphiteDigesterBg.model.MdbOperationLog;
 import com.my.graphiteDigesterBg.move.MoveMoveTubeRackFromLiquidPlateToHeatPlate;
 import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlot;
 import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlotManager;
+import java.util.List;
+import java.util.Map;
 @Task(name="SampleAdd")
 public class TaskSampleAdd extends DiTaskBase {
-    // done lock
-    private final Object doneLock = new Object();
-    // add status
-    private String addStatus = "waiting";
+    // param : eid
+    public String eid;
 
     @Override
     protected void execute() {
         this.setStatus(TaskStatus.RUNNING);
 
+        var digestion = new MdbDigestion();
+        digestion.eid = this.eid;
+        digestion.save();
+
         ResHeatingTubeRackSlotManager slotMan = this.getResourceManager(ResHeatingTubeRackSlotManager.class);
         ResHeatingTubeRackSlot slot = slotMan.allocFreeSlot();
         MdbOperationLog.log(this.getUser(), "试管架%d : 放入样本", slot.index);
@@ -35,50 +41,48 @@ public class TaskSampleAdd extends DiTaskBase {
         transLrMotor.moveTo("TransLrMotorStandby");
         // 加液转盘移动到就添加位置
         liquidPlateMotor.moveTo("LiquidPlatePlaceTubeRack");
-        // 等待用户添加完成
-        this.waitForUserAction();
+
+        // 等待用户放置样本
+        DiMdbNotification.taskAction(this, "TaskSampleAddTubeRackPutIn");
+        var putinAction = this.waitAction("TaskSampleAddTubeRackPutIn");
+        var putinActionResult = putinAction.getResult(String.class);
         // 关闭设备门
         doorMotor.moveToIO(1, 1);
-        if ( "canceled".equals(this.addStatus) ) {
+        if ( "canceled".equals(putinActionResult) ) {
             slot.unlock();
             this.setStatus(TaskStatus.FINISHED);
             return;
         }
 
-        var moveMoveTubeRackFromLiquidPlateToHeatPlate = new MoveMoveTubeRackFromLiquidPlateToHeatPlate();
-        moveMoveTubeRackFromLiquidPlateToHeatPlate.slotIndex = slot.index;
-        moveMoveTubeRackFromLiquidPlateToHeatPlate.setDevice(this.getDevice());
-        moveMoveTubeRackFromLiquidPlateToHeatPlate.run();
+        // 初始化试管架状态
+        for ( int i=0; i<16; i++ ) {
+            slot.setTubeStatus(i, ResHeatingTubeRackSlot.TUBE_STATUS_USED);
+        }
+        // 移动加液盘到观察视角
+        liquidPlateMotor.moveTo("LiquidPlateCameraShot");
+        // 等待试管状态确认
+        DiMdbNotification.taskAction(this, "TaskSampleAddTubeRackStatusConfirm");
+        var statusConfirmAction = this.waitAction("TaskSampleAddTubeRackStatusConfirm");
+        var tubeRackEmptyList = statusConfirmAction.getResult(List.class);
+        for ( var item : tubeRackEmptyList ) {
+            Integer index = (Integer)item;
+            slot.setTubeStatus(index, ResHeatingTubeRackSlot.TUBE_STATUS_EMPTY);
+        }
 
+        slot.rackPosition = ResHeatingTubeRackSlot.LOCATION_LIQUID_PLATE;
         this.setStatus(TaskStatus.FINISHED);
     }
 
-    // wait for user action
-    private void waitForUserAction() {
-        this.setRuntimeStatus("WAIT_FOR_PUTTING_CONFIRM");
-        synchronized (this.doneLock) {
-            try {
-                this.doneLock.wait();
-            } catch (InterruptedException e) {
-                throw new RuntimeException(e);
-            }
-        }
-        this.clearRuntimeStatus();
+    // 放置试管架确认
+    public void actionPutInConfirm( Map<String, Object> params ) {
+        String result = (String)params.get("result");
+        var action = this.getAction("TaskSampleAddTubeRackPutIn");
+        action.finish(result);
     }
 
-    // close cover
-    public void done() {
-        this.addStatus = "done";
-        synchronized (this.doneLock) {
-            this.doneLock.notifyAll();
-        }
-    }
-
-    // cancel
-    public void cancel() {
-        this.addStatus = "canceled";
-        synchronized (this.doneLock) {
-            this.doneLock.notifyAll();
-        }
+    // 试管架空位确认
+    public void actionTubeStatusConfirm( Map<String, Object> params ) {
+        var action = this.getAction("TaskSampleAddTubeRackStatusConfirm");
+        action.finish(params.get("emptyList"));
     }
 }