样本添加

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

@@ -1,28 +1,75 @@
 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.model.MdbOperationLog;
 import com.my.graphiteDigesterBg.move.MoveMoveTubeRackFromHeatPlateToLiquidPlate;
 import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlotManager;
-
 @Task(name="SampleTakeOut")
 public class TaskSampleTakeOut extends DiTaskBase {
     // slot index
     public Integer slotIndex;
+    // done lock
+    private final Object confirmLock = new Object();
 
     @Override
-    public void run() {
+    protected void execute() {
+        this.setStatus(TaskStatus.RUNNING);
         MdbOperationLog.log(this.getUser(), "试管架%d : 取出样本", this.slotIndex);
 
         var slotMan = this.getResourceManager(ResHeatingTubeRackSlotManager.class);
         var slot = slotMan.getSlotByIndex(this.slotIndex);
 
+        if ( !slot.getIsLocked() ) {
+            throw new RuntimeException("试管架位为空，无法取出样本");
+        }
+
+        if ( slot.isHeating ) {
+            throw new RuntimeException("试管架正在加热中，无法取出样本");
+        }
+
+        if ( slot.rackPosition.equals("LiquidPlate") ) {
+            throw new RuntimeException("试管架未复位到加热盘，无法取出样本");
+        }
+
+        // 从加热盘移动到液体盘
         var moveTubeRackFromHeatPlateToLiquidPlate = new MoveMoveTubeRackFromHeatPlateToLiquidPlate();
         moveTubeRackFromHeatPlateToLiquidPlate.slotIndex = this.slotIndex;
         moveTubeRackFromHeatPlateToLiquidPlate.setDevice(this.getDevice());
         moveTubeRackFromHeatPlateToLiquidPlate.run();
 
+        // 打开设备门
+        DiActMotor doorMotor = this.getActuator(MyDevice.ACT_DOOR_MOTOR, DiActMotor.class);
+        doorMotor.reset();
+
+        // 等待用户取出确认
+        this.waitForUserTakeOutConfirm();
+
+        // 关闭设备门
+        doorMotor.moveToIO(1, 1);
+
         slot.unlock();
         this.setStatus(TaskStatus.FINISHED);
     }
+
+    // wait for user action
+    private void waitForUserTakeOutConfirm() {
+        this.setRuntimeStatus("WAIT_FOR_TAKING_CONFIRM");
+        synchronized (this.confirmLock) {
+            try {
+                this.confirmLock.wait();
+            } catch (InterruptedException e) {
+                throw new RuntimeException(e);
+            }
+        }
+        this.clearRuntimeStatus();
+    }
+
+    // tube rack take out confirm
+    public void done() {
+        synchronized (this.confirmLock) {
+            this.confirmLock.notifyAll();
+        }
+    }
 }