加液时检查试管空位

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

@@ -4,6 +4,10 @@ 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;
+import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlot;
+import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlotManager;
+
+import java.util.ArrayList;
 import java.util.List;
 public class MoveLiquidAdd extends DiTaskMoveBase {
     // shake times
@@ -12,6 +16,10 @@ public class MoveLiquidAdd extends DiTaskMoveBase {
     public Integer liquidVolume;
     // liquid type
     public String liquidType;
+    // slot index
+    public Integer slotIndex;
+    // slot
+    private ResHeatingTubeRackSlot slot = null;
 
     @Override
     public void run() {
@@ -20,6 +28,9 @@ public class MoveLiquidAdd extends DiTaskMoveBase {
         var groupInPump = this.getActuator("LiquidPeristalticPump_" + bucket.index + "_0", DiActPeristalticPump.class);
         var groupOutPump = this.getActuator("LiquidPeristalticPump_" + bucket.index + "_1", DiActPeristalticPump.class);
 
+        ResHeatingTubeRackSlotManager slotMan = this.getResourceManager(ResHeatingTubeRackSlotManager.class);
+        this.slot = slotMan.getSlotByIndex(this.slotIndex);
+
         // 加液
         DiActMotor liquidMotor = this.getActuator(MyDevice.ACT_LIQUID_MOTOR, DiActMotor.class);
         DiActMotor liquidPlateMotor = this.getActuator(MyDevice.ACT_LIQUID_PLATE_MOTOR, DiActMotor.class);
@@ -29,22 +40,36 @@ public class MoveLiquidAdd extends DiTaskMoveBase {
                 () -> liquidMotor.moveTo("LiquidArmPumpGroupOut"),
                 () -> liquidPlateMotor.moveTo("LiquidPlateSlotPumpOutGroup", index)
             ));
-            this.execute(List.of( // 加液
-                () -> groupOutPump.pump(this.liquidVolume),
-                () -> groupInPump.pump(this.liquidVolume)
-            ));
-            bucket.consume(this.liquidVolume * 2);
+
+            // 外圈：判断试管有无， 并执行加液
+            var pumpExecOut = new ArrayList<ExecuteCallback>();
+            if ( this.isTubeExist("GroupOut", "PumpOut", i) ) {
+                pumpExecOut.add(() -> groupOutPump.pump(this.liquidVolume));
+                bucket.consume(this.liquidVolume);
+            }
+            if ( this.isTubeExist("GroupOut", "PumpIn", i) ) {
+                pumpExecOut.add(() -> groupInPump.pump(this.liquidVolume));
+                bucket.consume(this.liquidVolume);
+            }
+            this.execute(pumpExecOut);
 
             // 内圈试管加液
             this.execute(List.of( // 移动到内圈试管位置
                 () -> liquidMotor.moveTo("LiquidArmPumpGroupIn"),
                 () -> liquidPlateMotor.moveTo("LiquidPlateSlotPumpInGroup", index)
             ));
-            this.execute(List.of( // 加液
-                () -> groupInPump.pump(this.liquidVolume),
-                () -> groupOutPump.pump(this.liquidVolume)
-            ));
-            bucket.consume(this.liquidVolume * 2);
+
+            // 内圈：判断试管有无， 并执行加液
+            var pumpExecIn = new ArrayList<ExecuteCallback>();
+            if ( this.isTubeExist("GroupIn", "PumpOut", i) ) {
+                pumpExecIn.add(() -> groupOutPump.pump(this.liquidVolume));
+                bucket.consume(this.liquidVolume);
+            }
+            if ( this.isTubeExist("GroupIn", "PumpIn", i) ) {
+                pumpExecIn.add(() -> groupInPump.pump(this.liquidVolume));
+                bucket.consume(this.liquidVolume);
+            }
+            this.execute(pumpExecIn);
         }
 
         liquidMotor.moveTo("LiquidArmStandby");
@@ -62,4 +87,23 @@ public class MoveLiquidAdd extends DiTaskMoveBase {
 
         liquidMotor.moveTo("LiquidArmStandby");
     }
+
+    // 判断试管是否存在
+    private Boolean isTubeExist(String groupType, String PumpType, Integer pumpIndex) {
+        var slotGroupOutIndexList  = List.of(0,4,  3,2, 12,13, 15,11);
+        var slotGroupInIndexList = List.of(1,5,  7,6, 8,9,   14,10);
+
+        var slotGroupIndexList = slotGroupOutIndexList;
+        if ( "GroupIn".equals(groupType) ) {
+            slotGroupIndexList = slotGroupInIndexList;
+        }
+
+        var slotIndex = slotGroupIndexList.get(pumpIndex*2);
+        if ( "PumpIn".equals(PumpType) ) {
+            slotIndex = slotGroupIndexList.get(pumpIndex*2+1);
+        }
+
+        var tubeStatus = this.slot.getTubeStatus(slotIndex);
+        return ResHeatingTubeRackSlot.TUBE_STATUS_USED.equals(tubeStatus);
+    }
 }

src/src/main/java/com/my/graphiteDigesterBg/step/StepPump.java

@@ -32,6 +32,7 @@ public class StepPump extends DiTaskStepBase {
         liquidAdd.shakeTimes = this.shake;
         liquidAdd.liquidType = this.type;
         liquidAdd.liquidVolume = this.amount;
+        liquidAdd.slotIndex = task.slotIndex;
         liquidAdd.run();
 
         // move tube rack from liquid plate to heat plate

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

@@ -35,6 +35,7 @@ public class TaskLiquidAdd extends DiTaskBase {
         liquidAdd.shakeTimes = this.shakeTimes;
         liquidAdd.liquidType = this.liquidType;
         liquidAdd.liquidVolume = this.liquidVolume;
+        liquidAdd.slotIndex = this.slotIndex;
         liquidAdd.run();
 
         // move tube rack from liquid plate to heat plate