~~

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

@@ -59,8 +59,5 @@ public class MyApplicationRunner implements ApplicationRunner {
         actuators.register(MyDevice.ACT_HEAT_SLOT_01_COVER_SERVO, new DiActServo(){{
             mid = 12;
         }});
-        actuators.register(MyDevice.ACT_LIQUID_PERISTALTIC_PUMP_0, new DiActPeristalticPump(){{
-            mid = 61;
-        }});
     }
 }

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

@@ -74,6 +74,7 @@ abstract public class DiActuatorBase implements DiActuator {
         } else {
             this.onDisable();
         }
+        this.log("setEnable({})", enable);
     }
 
     // active config

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

@@ -1,6 +1,7 @@
 package com.my.graphiteDigesterBg.diframe;
 import java.lang.reflect.Constructor;
 import java.lang.reflect.InvocationTargetException;
+import java.util.ArrayList;
 import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
@@ -27,6 +28,11 @@ public class DiDeviceActuatorManager {
         return this.actuators.get( id );
     }
 
+    // get all
+    public List<DiActuator> getAll() {
+        return new ArrayList<>(this.actuators.values());
+    }
+
     // setup
     public void setup() {
         Object config = this.device.getConfig().get("actuators");

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

@@ -2,14 +2,64 @@ package com.my.graphiteDigesterBg.diframe.actuator;
 import com.my.graphiteDigesterBg.diframe.DiActuatorBase;
 import com.my.graphiteDigesterBg.diframe.DiCommand;
 public class DiActPeristalticPump extends DiActuatorBase {
-    // volume
-    public void pump(Integer volume) {
-        // @TODO : 这里要根据配置参数计算 ~~~
-        this.call(DiCommand.MOTOR_EASY_MOVE_BY, 100 * volume);
+    // shaft
+    protected Integer shaft;
+    // one circle pulse
+    protected Integer oneCirclePulse;
+    // one circle pulse denominator
+    protected Integer oneCirclePulseDenominator;
+    // default velocity
+    protected Integer defaultVelocity;
+    // default acc
+    protected Integer defaultAcc;
+    // default dec
+    protected Integer defaultDec;
+    // look zero edge pulse
+    protected Integer stepMotorIHold;
+    // look zero edge pulse
+    protected Integer stepMotorIRun;
+    // volume per circle
+    protected Double volumePerCircle;
+
+    @Override
+    protected void onEnable() {
+        if ( null != this.shaft ) {
+            this.call(DiCommand.MODULE_SET_REG,1051, this.shaft);
+        }
+        if ( null != this.oneCirclePulse ) {
+            this.call(DiCommand.MODULE_SET_REG, 1052, this.oneCirclePulse);
+        }
+        if ( null != this.oneCirclePulseDenominator ) {
+            this.call(DiCommand.MODULE_SET_REG, 1053, this.oneCirclePulseDenominator);
+        }
+        if ( null != this.defaultVelocity ) {
+            this.call(DiCommand.MODULE_SET_REG, 1054, this.defaultVelocity);
+        }
+        if ( null != this.defaultAcc ) {
+            this.call(DiCommand.MODULE_SET_REG, 1055, this.defaultAcc);
+        }
+        if ( null != this.defaultDec ) {
+            this.call(DiCommand.MODULE_SET_REG, 1056, this.defaultDec);
+        }
+        if ( null != this.stepMotorIHold ) {
+            this.call(DiCommand.MODULE_SET_REG, 1058, this.stepMotorIHold);
+        }
+        if ( null != this.stepMotorIRun ) {
+            this.call(DiCommand.MODULE_SET_REG, 1059, this.stepMotorIRun);
+        }
+        this.activeConfig();
+    }
+
+    // rotate by circle count
+    public void rotateByCircleCount( Integer circleCount ) {
+        Integer targetPos = this.oneCirclePulse * circleCount;
+        this.call(DiCommand.MOTOR_EASY_MOVE_BY, targetPos);
         this.waitForFinish();
     }
 
-    public void rotate() {
-        this.call(DiCommand.MOTOR_EASY_MOVE_BY, 100 * 30);
+    // volume
+    public void pump(Integer volume) {
+        Integer circleCount = (int) (volume / this.volumePerCircle);
+        this.rotateByCircleCount(circleCount);
     }
 }

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

@@ -2,12 +2,24 @@ package com.my.graphiteDigesterBg.move;
 import com.my.graphiteDigesterBg.MyDevice;
 import com.my.graphiteDigesterBg.diframe.DiTaskMoveBase;
 import com.my.graphiteDigesterBg.diframe.actuator.DiActMotor;
+import com.my.graphiteDigesterBg.diframe.actuator.DiActPeristalticPump;
+import com.my.graphiteDigesterBg.resource.ResAcidManager;
+
 public class MoveLiquidAdd extends DiTaskMoveBase {
     // shake times
     public Integer shakeTimes;
+    // liquid volume
+    public Integer liquidVolume;
+    // liquid type
+    public String liquidType;
 
     @Override
     public void run() {
+        var liquidBucketMan = this.getResourceManager(ResAcidManager.class);
+        var bucket = liquidBucketMan.getBucketByAcidType(this.liquidType);
+        var groupInPump = this.getActuator("LiquidPeristalticPump_" + bucket.index + "_0", DiActPeristalticPump.class);
+        var groupOutPump = this.getActuator("LiquidPeristalticPump_" + bucket.index + "_1", DiActPeristalticPump.class);
+
         // 加液
         DiActMotor liquidMotor = this.getActuator(MyDevice.ACT_LIQUID_MOTOR, DiActMotor.class);
         DiActMotor liquidPlateMotor = this.getActuator(MyDevice.ACT_LIQUID_PLATE_MOTOR, DiActMotor.class);
@@ -15,14 +27,16 @@ public class MoveLiquidAdd extends DiTaskMoveBase {
             // 外圈试管加液
             liquidMotor.moveTo("LiquidArmPumpGroupOut");
             liquidPlateMotor.moveTo("LiquidPlateSlotPumpOutGroup", i);
-            // 加液指定数量
-            //liquidPump.pump(this.liquidVolume);
+            groupOutPump.pump(this.liquidVolume);
+            groupInPump.pump(this.liquidVolume);
+            bucket.volume -= this.liquidVolume * 2;
 
             // 内圈试管加液
             liquidMotor.moveTo("LiquidArmPumpGroupIn");
             liquidPlateMotor.moveTo("LiquidPlateSlotPumpInGroup", i);
-            // 加液指定数量
-            //liquidPump.pump(this.liquidVolume);
+            groupInPump.pump(this.liquidVolume);
+            groupOutPump.pump(this.liquidVolume);
+            bucket.volume -= this.liquidVolume * 2;
         }
 
         liquidMotor.moveTo("LiquidArmStandby");

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

@@ -14,6 +14,12 @@ public class ResAcidManager extends DiResourceManagerBase {
         this.buckets = new ArrayList<>();
         for (int i = 0; i < 8; i++) {
             ResAcidBucket bucket = new ResAcidBucket(this, i);
+
+            // @TODO : remove this
+            bucket.acidType = "sulfuric";
+            bucket.volume = 5000;
+            bucket.maxVolume = 5000;
+
             this.buckets.add(bucket);
         }
     }

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

@@ -1,15 +1,10 @@
 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.DiActPeristalticPump;
-import com.my.graphiteDigesterBg.diframe.actuator.DiActServo;
 import com.my.graphiteDigesterBg.move.MoveLiquidAdd;
 import com.my.graphiteDigesterBg.move.MoveMoveTubeRackFromHeatPlateToLiquidPlate;
-import com.my.graphiteDigesterBg.resource.ResAcidManager;
-import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlot;
-import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlotManager;
+import com.my.graphiteDigesterBg.move.MoveMoveTubeRackFromLiquidPlateToHeatPlate;
+
 @Task(name="LiquidAdd")
 public class TaskLiquidAdd extends DiTaskBase {
     // slot index
@@ -35,8 +30,16 @@ public class TaskLiquidAdd extends DiTaskBase {
         var liquidAdd = new MoveLiquidAdd();
         liquidAdd.setDevice(this.getDevice());
         liquidAdd.shakeTimes = this.shakeTimes;
+        liquidAdd.liquidType = this.liquidType;
+        liquidAdd.liquidVolume = this.liquidVolume;
         liquidAdd.run();
 
+        // move tube rack from liquid plate to heat plate
+        var moveTubeRackFromLiquidPlateToHeatPlate = new MoveMoveTubeRackFromLiquidPlateToHeatPlate();
+        moveTubeRackFromLiquidPlateToHeatPlate.setDevice(this.getDevice());
+        moveTubeRackFromLiquidPlateToHeatPlate.slotIndex = this.slotIndex;
+        moveTubeRackFromLiquidPlateToHeatPlate.run();
+
         this.setStatus(TaskStatus.FINISHED);
     }
 }

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

@@ -3,6 +3,7 @@ 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.DiActPeristalticPump;
 import com.my.graphiteDigesterBg.diframe.actuator.DiActServo;
 @Task(name="StartReset")
 public class TaskStartReset extends DiTaskBase {
@@ -49,8 +50,13 @@ public class TaskStartReset extends DiTaskBase {
         heatPlateMotor.reset();
         heatPlateMotor.moveTo("HeatPlateStandby");
 
-        // @TODO : 蠕动泵初始化
-        LOG.error("@TODO : 蠕动泵初始化");
+        // 蠕动泵初始化
+        var actuators = this.getDevice().getActuators().getAll();
+        for ( var actuator : actuators ) {
+            if (actuator instanceof DiActPeristalticPump pump) {
+                pump.setEnable(true);
+            }
+        }
 
         runtimeVars.set("IsDeviceReady", "YES");
         runtimeVars.set("IsTaskStartResetExecuting", "NO");

src/src/main/java/com/my/graphiteDigesterBg/testcase/TestcasePeristalticPumpTest.java

@@ -0,0 +1,21 @@
+package com.my.graphiteDigesterBg.testcase;
+import com.my.graphiteDigesterBg.diframe.DiTestcaseBase;
+import com.my.graphiteDigesterBg.diframe.Testcase;
+import com.my.graphiteDigesterBg.diframe.actuator.DiActPeristalticPump;
+
+@Testcase(
+        name="PeristalticPumpTest",
+        title="测试每个蠕动泵旋转情况",
+        description="测试时需将桶内装入一定量的水，并在加液臂处放置容器用于接水"
+)
+public class TestcasePeristalticPumpTest extends DiTestcaseBase {
+    @Override
+    public void run() {
+//        for ( int i = 0; i < 8; i++ ) {
+//            for ( int j=0; j<2; j++ ) {
+//                var pump = this.getActuator("LiquidPeristalticPump_0_0", DiActPeristalticPump.class);
+//                pump.rotate();
+//            }
+//        }
+    }
+}

src/src/main/resources/device.yml

@@ -104,18 +104,232 @@ actuators :
     defaultVelocity : 400
     defaultTorque : 300
 
+  - name : 蠕动泵-0-0
+    key : LiquidPeristalticPump_0_0
+    mid : 108
+    type : PeristalticPump
+    shaft : 0
+    oneCirclePulse : 100
+    oneCirclePulseDenominator : 1
+    defaultVelocity : 500
+    defaultAcc : 300
+    defaultDec : 300
+    stepMotorIHold : 0
+    stepMotorIRun : 25
+    volumePerCircle : 0.1
+
+  - name: 蠕动泵-0-1
+    key: LiquidPeristalticPump_0_1
+    mid: 107
+    type: PeristalticPump
+    shaft: 0
+    oneCirclePulse: 100
+    oneCirclePulseDenominator: 1
+    defaultVelocity: 500
+    defaultAcc: 300
+    defaultDec: 300
+    stepMotorIHold: 0
+    stepMotorIRun: 25
+    volumePerCircle: 0.1
+
+  - name: 蠕动泵-1-0
+    key: LiquidPeristalticPump_1_0
+    mid: 106
+    type: PeristalticPump
+    shaft: 0
+    oneCirclePulse: 100
+    oneCirclePulseDenominator: 1
+    defaultVelocity: 500
+    defaultAcc: 300
+    defaultDec: 300
+    stepMotorIHold: 0
+    stepMotorIRun: 25
+    volumePerCircle: 0.1
+
+  - name: 蠕动泵-1-1
+    key: LiquidPeristalticPump_1_1
+    mid: 105
+    type: PeristalticPump
+    shaft: 0
+    oneCirclePulse: 100
+    oneCirclePulseDenominator: 1
+    defaultVelocity: 500
+    defaultAcc: 300
+    defaultDec: 300
+    stepMotorIHold: 0
+    stepMotorIRun: 25
+    volumePerCircle: 0.1
+
+  - name: 蠕动泵-2-0
+    key: LiquidPeristalticPump_2_0
+    mid: 104
+    type: PeristalticPump
+    shaft: 0
+    oneCirclePulse: 100
+    oneCirclePulseDenominator: 1
+    defaultVelocity: 500
+    defaultAcc: 300
+    defaultDec: 300
+    stepMotorIHold: 0
+    stepMotorIRun: 25
+    volumePerCircle: 0.1
+
+  - name: 蠕动泵-2-1
+    key: LiquidPeristalticPump_2_1
+    mid: 103
+    type: PeristalticPump
+    shaft: 0
+    oneCirclePulse: 100
+    oneCirclePulseDenominator: 1
+    defaultVelocity: 500
+    defaultAcc: 300
+    defaultDec: 300
+    stepMotorIHold: 0
+    stepMotorIRun: 25
+    volumePerCircle: 0.1
+
+  - name: 蠕动泵-3-0
+    key: LiquidPeristalticPump_3_0
+    mid: 102
+    type: PeristalticPump
+    shaft: 0
+    oneCirclePulse: 100
+    oneCirclePulseDenominator: 1
+    defaultVelocity: 500
+    defaultAcc: 300
+    defaultDec: 300
+    stepMotorIHold: 0
+    stepMotorIRun: 25
+    volumePerCircle: 0.1
+
+  - name: 蠕动泵-3-1
+    key: LiquidPeristalticPump_3_1
+    mid: 101
+    type: PeristalticPump
+    shaft: 0
+    oneCirclePulse: 100
+    oneCirclePulseDenominator: 1
+    defaultVelocity: 500
+    defaultAcc: 300
+    defaultDec: 300
+    stepMotorIHold: 0
+    stepMotorIRun: 25
+    volumePerCircle: 0.1
+
+  - name: 蠕动泵-4-0
+    key: LiquidPeristalticPump_4_0
+    mid: 118
+    type: PeristalticPump
+    shaft: 0
+    oneCirclePulse: 100
+    oneCirclePulseDenominator: 1
+    defaultVelocity: 500
+    defaultAcc: 300
+    defaultDec: 300
+    stepMotorIHold: 0
+    stepMotorIRun: 25
+    volumePerCircle: 0.1
+
+  - name: 蠕动泵-4-1
+    key: LiquidPeristalticPump_4_1
+    mid: 117
+    type: PeristalticPump
+    shaft: 0
+    oneCirclePulse: 100
+    oneCirclePulseDenominator: 1
+    defaultVelocity: 500
+    defaultAcc: 300
+    defaultDec: 300
+    stepMotorIHold: 0
+    stepMotorIRun: 25
+    volumePerCircle: 0.1
+
+  - name: 蠕动泵-5-0
+    key: LiquidPeristalticPump_5_0
+    mid: 116
+    type: PeristalticPump
+    shaft: 0
+    oneCirclePulse: 100
+    oneCirclePulseDenominator: 1
+    defaultVelocity: 500
+    defaultAcc: 300
+    defaultDec: 300
+    stepMotorIHold: 0
+    stepMotorIRun: 25
+    volumePerCircle: 0.1
+
+  - name: 蠕动泵-5-1
+    key: LiquidPeristalticPump_5_1
+    mid: 115
+    type: PeristalticPump
+    shaft: 0
+    oneCirclePulse: 100
+    oneCirclePulseDenominator: 1
+    defaultVelocity: 500
+    defaultAcc: 300
+    defaultDec: 300
+    stepMotorIHold: 0
+    stepMotorIRun: 25
+    volumePerCircle: 0.1
+
+  - name: 蠕动泵-6-0
+    key: LiquidPeristalticPump_6_0
+    mid: 114
+    type: PeristalticPump
+    shaft: 0
+    oneCirclePulse: 100
+    oneCirclePulseDenominator: 1
+    defaultVelocity: 500
+    defaultAcc: 300
+    defaultDec: 300
+    stepMotorIHold: 0
+    stepMotorIRun: 25
+    volumePerCircle: 0.1
+
+  - name: 蠕动泵-6-1
+    key: LiquidPeristalticPump_6_1
+    mid: 113
+    type: PeristalticPump
+    shaft: 0
+    oneCirclePulse: 100
+    oneCirclePulseDenominator: 1
+    defaultVelocity: 500
+    defaultAcc: 300
+    defaultDec: 300
+    stepMotorIHold: 0
+    stepMotorIRun: 25
+    volumePerCircle: 0.1
+
+  - name: 蠕动泵-7-0
+    key: LiquidPeristalticPump_7_0
+    mid: 112
+    type: PeristalticPump
+    shaft: 0
+    oneCirclePulse: 100
+    oneCirclePulseDenominator: 1
+    defaultVelocity: 500
+    defaultAcc: 300
+    defaultDec: 300
+    stepMotorIHold: 0
+    stepMotorIRun: 25
+    volumePerCircle: 0.1
+
+  - name: 蠕动泵-7-1
+    key: LiquidPeristalticPump_7_1
+    mid: 111
+    type: PeristalticPump
+    shaft: 0
+    oneCirclePulse: 100
+    oneCirclePulseDenominator: 1
+    defaultVelocity: 500
+    defaultAcc: 300
+    defaultDec: 300
+    stepMotorIHold: 0
+    stepMotorIRun: 25
+    volumePerCircle: 0.1
+
 # device registers
 registers :
   # 加热盘 Slot Cover
   - {key: "HeatingPlateSlot1CoverServeMotorDefaultVelocity" , mid : 12, index : 1054, defaultValue : 150}
-  - {key: "HeatingPlateSlot1CoverServeMotorDefaultTorque" , mid : 12, index : 1077, defaultValue : 330}
-
- # 加酸蠕动泵
-  - {key: "LiquidPeristalticPump0MotorShaft" , mid : 61, index : 1051, defaultValue : 0}
-  - {key: "LiquidPeristalticPump0MotorOneCirclePulse" , mid : 61, index : 1052, defaultValue : 100}
-  - {key: "LiquidPeristalticPump0MotorOneCirclePulseDenominator" , mid : 61, index : 1053, defaultValue : 1}
-  - {key: "LiquidPeristalticPump0MotorDefaultVelocity" , mid : 61, index : 1054, defaultValue : 500}
-  - {key: "LiquidPeristalticPump0MotorDefaultAcc" , mid : 61, index : 1055, defaultValue : 300}
-  - {key: "LiquidPeristalticPump0MotorDefaultDec" , mid : 61, index : 1056, defaultValue : 300}
-  - {key: "LiquidPeristalticPump0MotorStepMotorIHold" , mid : 61, index : 1058, defaultValue : 0}
-  - {key: "LiquidPeristalticPump0MotorStepMotorIRun" , mid : 61, index : 1059, defaultValue : 4}
+  - {key: "HeatingPlateSlot1CoverServeMotorDefaultTorque" , mid : 12, index : 1077, defaultValue : 330}