添加样本

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

@@ -109,6 +109,16 @@ public class DiTaskExecutor implements Runnable {
         }
     }
 
+    // get task by UUID
+    public DiTask getTaskByUUID(String uuid) {
+        for ( DiTask task : this.taskList ) {
+            if ( task.getUUID().equals(uuid) ) {
+                return task;
+            }
+        }
+        return null;
+    }
+
     public void pause() {}
     public void resume() {}
 }

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

@@ -8,7 +8,12 @@ public class DiActMotor extends DiActuatorBase {
         this.waitForFinish();
     }
 
-    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() {}

src/src/main/java/com/my/graphiteDigesterBg/diframe/api/DiApiTask.java

@@ -5,6 +5,9 @@ import org.springframework.stereotype.Controller;
 import org.springframework.web.bind.annotation.PostMapping;
 import org.springframework.web.bind.annotation.RequestBody;
 import org.springframework.web.bind.annotation.ResponseBody;
+
+import java.lang.reflect.InvocationTargetException;
+import java.lang.reflect.Method;
 import java.util.Map;
 @Controller
 public class DiApiTask extends DiApiControllerBase  {
@@ -31,6 +34,54 @@ public class DiApiTask extends DiApiControllerBase  {
         DiTaskManager taskManager = this.device.getTaskManager();
         DiTask task = taskManager.generateTask(name, taskParams);
         executor.appendTask(task);
-        return this.success();
+        return this.success(Map.of("id", task.getUUID()));
+    }
+
+    @ResponseBody
+    @PostMapping("/api/task/task-action-execute")
+    public DiApiResponse taskActionExecute(@RequestBody Map<String,Object> params) {
+        String id = (String)params.get("id");
+        String action = (String)params.get("action");
+        Object actionParams = params.get("params");
+
+        DiTaskExecutor executor = this.device.getTaskManager().getExecutor();
+        DiTask task = executor.getTaskByUUID(id);
+        if ( null == task ) {
+            return this.error("task not found");
+        }
+
+        boolean hasParams = false;
+        Method actionMethod = null;
+        try {
+            actionMethod = task.getClass().getMethod(action);
+        } catch (NoSuchMethodException e) {
+            try {
+                hasParams = true;
+                actionMethod = task.getClass().getMethod(action, Map.class);
+            } catch (NoSuchMethodException ep) {
+                throw new RuntimeException(ep);
+            }
+        }
+
+        Object actionResult = null;
+        try {
+            if ( hasParams ) {
+                if ( actionMethod.getReturnType().equals(Void.TYPE) ) {
+                    actionMethod.invoke(task, params);
+                } else {
+                    actionResult = actionMethod.invoke(task, params);
+                }
+            } else {
+                if ( actionMethod.getReturnType().equals(Void.TYPE) ) {
+                    actionMethod.invoke(task);
+                } else {
+                    actionResult = actionMethod.invoke(task);
+                }
+            }
+        } catch (IllegalAccessException | InvocationTargetException e) {
+            throw new RuntimeException(e);
+        }
+
+        return this.success(actionResult);
     }
 }

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

@@ -8,17 +8,88 @@ import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlot;
 import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlotManager;
 @Task(name="SampleAdd")
 public class TaskSampleAdd extends DiTaskBase {
+    // done lock
+    private final Object doneLock = new Object();
+    // add status
+    private String addStatus = "waiting";
+
     @Override
     public void run() {
+        DiActMotor transLrMotor = this.getActuator(MyDevice.ACT_TRANSFER_LR_MOTOR, DiActMotor.class);
+        DiActMotor transUdMotor = this.getActuator(MyDevice.ACT_TRANSFER_UD_MOTOR, DiActMotor.class);
+        DiActServo transferClipServo = (DiActServo)this.getActuator(MyDevice.ACT_TRANSFER_CLIP_SERVO);
+        DiActMotor liquidPlateMotor = this.getActuator(MyDevice.ACT_LIQUID_PLATE_MOTOR, DiActMotor.class);
+        DiActMotor heatPlateMotor = (DiActMotor)this.getActuator(MyDevice.ACT_HEAT_PLATE_MOTOR);
+
         ResHeatingTubeRackSlotManager slotMan = this.getResourceManager(ResHeatingTubeRackSlotManager.class);
         ResHeatingTubeRackSlot slot = slotMan.allocFreeSlot();
 
-        DiActMotor heatPlateMotor = (DiActMotor)this.getActuator(MyDevice.ACT_HEAT_PLATE_MOTOR);
-        heatPlateMotor.moveTo(slot.getOperationWindowLocation());
-
-        DiActServo coverServo = (DiActServo)this.getActuator(MyDevice.ACT_HEAT_SLOT_01_COVER_SERVO);
-        coverServo.moveTo(1000);
+        // 搬运上升到顶部
+        transUdMotor.moveTo(1300);
+        // 搬运机械臂移动到就绪位置
+        transLrMotor.moveTo(1000);
+        // 加液转盘移动到就添加位置
+        liquidPlateMotor.moveTo(200);
+        // 等待用户添加完成
+        this.waitForUserAction();
+        if ( "canceled".equals(this.addStatus) ) {
+            slot.unlock();
+            this.setStatus(TaskStatus.FINISHED);
+        }
+        // 加液转盘移动到取架位置
+        liquidPlateMotor.moveTo(642);
+        // 搬运移动到加液取放架位置
+        transLrMotor.moveTo(365);
+        // 搬运下降到取架位置
+        transUdMotor.moveTo(540);
+        // 张开试管架夹爪
+        transferClipServo.moveTo(2670);
+        // 搬运上升到顶部
+        transUdMotor.moveTo(1300);
+        // 加热转盘移动到取放架位置
+        heatPlateMotor.moveTo(8580);
+        // 打开试管架盖
+        slot.coverOpen();
+        // 搬运移动到加热盘取放位置
+        transLrMotor.moveTo(1650);
+        // 搬运下降到放架位置
+        transUdMotor.moveTo(150);
+        // 关闭试管架夹爪
+        transferClipServo.moveTo(2073);
+        // 搬运上升到顶部
+        transUdMotor.moveTo(1300);
+        // 搬运移动到绪位置
+        transLrMotor.moveTo(1000);
+        // 试管架盖关闭
+        slot.coverClose();
 
         this.setStatus(TaskStatus.FINISHED);
     }
+
+    // wait for user action
+    private void waitForUserAction() {
+        synchronized (this.doneLock) {
+            try {
+                this.doneLock.wait();
+            } catch (InterruptedException e) {
+                throw new RuntimeException(e);
+            }
+        }
+    }
+
+    // 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();
+        }
+    }
 }

src/web/src/pages/main/contents/Operation.vue

@@ -54,8 +54,9 @@
                 <a-button>加热</a-button> -->
               </a-col>
               <a-col :span="12" class="text-right">
-                <a-button @click="actionSampleAdd">添加样品</a-button>
-                <a-button class="ml-1" @click="actionSampleAddOrTakeOut">取出样品</a-button>
+                <a-button @click="actionStartReset">初始化</a-button>
+                <a-button class="ml-1" @click="actionSampleAdd">添加样本</a-button>
+                <a-button class="ml-1" @click="actionSampleAddOrTakeOut">取出样本</a-button>
               </a-col>
             </a-row>
           </div>
@@ -102,14 +103,41 @@
       </div>
     </div>
   </div>
+
+  <!-- 添加样品弹框 -->
+  <a-modal v-model:visible="sampleAdd.enable" title="添加样本" @ok="actionSampleAddOk" @cancel="actionSampleAddCancel">
+    <p>放入样本后点击确认完成添加</p>
+  </a-modal>
 </div>
 </template>
 <script setup>
+import { ref } from 'vue';
 import ApiClient from '@/utils/ApiClient.js';
+/** @var {Object} */
+const sampleAdd = ref({enable:false});
+
+async function actionStartReset() {
+    let client = ApiClient.getClient();
+    await client.taskAppend('StartReset');
+}
+
 // 样本添加
 async function actionSampleAdd() {
+    sampleAdd.value.enable = true;
     let client = ApiClient.getClient();
-    await client.taskAppend('sampleAdd');
+    await client.taskAppend('SampleAdd');
+}
+
+// 样本添加完成
+async function actionSampleAddOk() {
+    sampleAdd.value.enable = false;
+    let client = ApiClient.getClient();
+    await client.taskAppend('SampleAdd');
+}
+
+// 样本添加取消
+async function actionSampleAddCancel() {
+    sampleAdd.value.enable = false;
 }
 </script>
 <style scoped>

src/web/src/utils/ApiClient.js

@@ -21,16 +21,19 @@ export default class ApiClient {
 
     // call api
     async call( name, params ) {
-        debugger;
         const response = await axios.post(`/api/${name}`, params);
         return response.data;
     }
 
     // append task
     async taskAppend( name, params={} ) {
-        return await this.call('task.append', {
+        return await this.call('task/append', {
             name: name,
             params: params,
         });
     }
+
+    async taskActionExecute() {
+        return await this.call('task/task-action-execute');
+    }
 }