1

src/pom.xml

@@ -33,6 +33,11 @@
             <artifactId>jSerialComm</artifactId>
             <version>2.6.2</version>
         </dependency>
+        <dependency>
+            <groupId>org.yaml</groupId>
+            <artifactId>snakeyaml</artifactId>
+            <version>1.33</version>
+        </dependency>
     </dependencies>
 
     <build>

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

@@ -5,7 +5,9 @@ import com.my.graphiteDigesterBg.diframe.DiDeviceIO;
 import com.my.graphiteDigesterBg.diframe.DiDeviceIOManager;
 import com.my.graphiteDigesterBg.diframe.actuator.DiActMotor;
 import com.my.graphiteDigesterBg.diframe.actuator.DiActPeristalticPump;
+import com.my.graphiteDigesterBg.diframe.actuator.DiActServo;
 import jakarta.annotation.Resource;
+import org.springframework.beans.factory.annotation.Value;
 import org.springframework.boot.ApplicationArguments;
 import org.springframework.boot.ApplicationRunner;
 import org.springframework.core.annotation.Order;
@@ -18,6 +20,8 @@ public class MyApplicationRunner implements ApplicationRunner {
 
     @Override
     public void run(ApplicationArguments args) throws Exception {
+        this.device.getRegisters().setup();
+
         this.setupIO();
         this.setupActuators();
     }
@@ -53,7 +57,7 @@ public class MyApplicationRunner implements ApplicationRunner {
         actuators.register(MyDevice.ACT_HEAT_PLATE_MOTOR, new DiActMotor(){{
             mid = 11;
         }});
-        actuators.register(MyDevice.ACT_HEAT_SLOT_01_COVER_SERVO, new DiActMotor(){{
+        actuators.register(MyDevice.ACT_HEAT_SLOT_01_COVER_SERVO, new DiActServo(){{
             mid = 12;
         }});
         actuators.register(MyDevice.ACT_TRANSFER_UD_MOTOR, new DiActMotor(){{

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

@@ -15,4 +15,6 @@ public class MyDevice extends DiDevice {
     public static String IO_HEAT_SLOT_01_HEATER_03 = "heatSlot01Heater03";
     public static String IO_HEAT_SLOT_01_HEATER_04 = "heatSlot01Heater04";
     public static String IO_AIR_COMPRESSOR = "airCompressor";
+
+    public static String RES_HEATING_TUBE_RACK_SLOT = "HeatingTubeRackSlot";
 }

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

@@ -1,5 +1,12 @@
 package com.my.graphiteDigesterBg.diframe;
 public interface DiActuator {
+    static Integer MODULE_STATUS_IDLE = 0;
+    static Integer MODULE_STATUS_BUSY = 1;
+    static Integer MODULE_STATUS_ERROR = 2;
+
     // set device
     void setDevice( DiDevice device );
+
+    // get mid
+    Integer getMid();
 }

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

@@ -1,8 +1,5 @@
 package com.my.graphiteDigesterBg.diframe;
-import java.nio.ByteBuffer;
-import java.nio.ByteOrder;
-import java.util.ArrayList;
-import java.util.List;
+import java.util.Objects;
 abstract public class DiActuatorBase implements DiActuator {
     // message index
     private static short messageIndex = 0;
@@ -21,71 +18,36 @@ abstract public class DiActuatorBase implements DiActuator {
         this.call(DiCommand.MODULE_ENABLE, enable ? 1 : 0);
     }
 
-    // execute device command
-    protected DiCommandResponse call( DiCommand cmd, Object... args ) {
-        DiCommandRequest request = null;
-        String cmdMode = this.device.getEnv().getProperty("device.connection.mode");
-        if ("text".equals(cmdMode)) {
-            request = this.buildCommandRequestForTextMode(cmd, args);
-        } else if ("binary".equals(cmdMode) ) {
-            request = this.buildCommandRequestForBinaryMode(cmd, args);
-        } else {
-            throw new RuntimeException("Unknown command mode: " + cmdMode);
-        }
-        this.device.getConnection().call(request);
-        return new DiCommandResponse(request.response);
+    // active config
+    public void activeConfig() {
+        this.call(DiCommand.MODULE_ACTIVE_CFG);
     }
 
-    // build command buffer for text mode
-    private DiCommandRequest buildCommandRequestForTextMode(DiCommand cmd, Object... args) {
-        List<String> parts = new ArrayList<>();
-        parts.add(cmd.getName());
-        parts.add(this.mid.toString());
-        for ( Object arg : args ) {
-            parts.add(arg.toString());
-        }
-        String command = String.join(" ", parts);
-
-        DiCommandRequest request = new DiCommandRequest();
-        request.parameter = ByteBuffer.wrap(command.getBytes());
-        return request;
+    // get mid
+    public Integer getMid() {
+        return this.mid;
     }
 
-    // build command buffer for binary mode
-    private DiCommandRequest buildCommandRequestForBinaryMode(DiCommand cmd, Object... args) {
-        int length = 2/*PacketIndex*/ + 2/*MainCmdId*/ + 1/*SubCmdId*/ + 1/*CmdType*/ + 2/*ModuleId*/;
-        for ( Object param : args ) {
-            if ( param instanceof Integer ) {
-                length += 4;
-            } else {
-                throw new RuntimeException("param type error");
+    // wait for finish
+    protected void waitForFinish() {
+        Integer status = DiActuator.MODULE_STATUS_BUSY;
+        do {
+            try {
+                DiCommandResponse response = this.call(DiCommand.MODULE_GET_STATUS);
+                status = response.readInteger(0);
+            } catch ( RuntimeException e ) {
+                continue;
             }
-        }
-        int cmdId = cmd.getCmdId();
-        int subCmdId = cmdId & 0xFF;
-        int mainCmdId = (cmdId >> 8) & 0xFFFF;
-        int moduleId = this.mid;
-
-        DiCommandRequest request = new DiCommandRequest();
-        request.id = DiActuatorBase.messageIndex;
-        request.parameter = ByteBuffer.allocate(length);
-        request.parameter.order(ByteOrder.LITTLE_ENDIAN);
-        request.parameter.putShort(DiActuatorBase.messageIndex);
-        request.parameter.putShort((short)mainCmdId); // main cmd id
-        request.parameter.put((byte)subCmdId); // sub cmd id
-        request.parameter.put((byte)0); // directive type
-        request.parameter.putShort((short)moduleId); // mid
-        for ( Object param : args ) {
-            if ( param instanceof Integer ) {
-                request.parameter.putInt((Integer)param);
+            try {
+                Thread.sleep(100);
+            } catch ( InterruptedException e ) {
+                continue ;
             }
-        }
-
-        DiActuatorBase.messageIndex ++;
-        if ( DiActuatorBase.messageIndex > 30000 ) {
-            DiActuatorBase.messageIndex = 0;
-        }
+        } while (!Objects.equals(status, DiActuator.MODULE_STATUS_IDLE));
+    }
 
-        return request;
+    // execute device command
+    protected DiCommandResponse call( DiCommand cmd, Object... args ) {
+        return this.device.call(cmd, this.mid, args);
     }
 }

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

@@ -13,5 +13,6 @@ public class DiApplicationRunner implements ApplicationRunner {
     @Override
     public void run(ApplicationArguments args) throws Exception {
         this.device.getTaskManager().scanTaskClasses("com.my.graphiteDigesterBg.task");
+        this.device.getResource().scanResourceManagerClasses("com.my.graphiteDigesterBg.resource");
     }
 }

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

@@ -1,7 +1,12 @@
 package com.my.graphiteDigesterBg.diframe;
 public enum DiCommand {
+    MODULE_ACTIVE_CFG("module_active_cfg", 0x0110),
+    MODULE_GET_STATUS("module_get_status", 0x0104),
+    MODULE_SET_REG("module_set_reg", 0x0105),
+    MODULE_GET_REG("module_get_reg", 0x0106),
     MODULE_ENABLE("module_enable", 0x0114),
-    MOTOR_EASY_MOVE_BY("motor_easy_move_by", 0x0212);
+    MOTOR_EASY_MOVE_BY("motor_easy_move_by", 0x0212),
+    MOTOR_EASY_MOVE_TO_ZERO("motor_easy_move_to_zero", 0x0214);
 
     // command name
     private final String name;

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

@@ -5,6 +5,8 @@ public class DiCommandRequest {
     public short id;
     // parameter
     public ByteBuffer parameter;
+    // parameter text
+    public String parameterText;
     // response
     public ByteBuffer response;
     // error code

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

@@ -1,5 +1,6 @@
 package com.my.graphiteDigesterBg.diframe;
 import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
 public class DiCommandResponse {
     // response
     private final ByteBuffer response;
@@ -11,6 +12,7 @@ public class DiCommandResponse {
 
     // read integer
     public Integer readInteger( Integer index ) {
-        return this.response.getInt(index);
+        this.response.order(ByteOrder.LITTLE_ENDIAN);
+        return this.response.getInt(8 + index);
     }
 }

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

@@ -1,34 +1,76 @@
 package com.my.graphiteDigesterBg.diframe;
-import com.my.graphiteDigesterBg.diframe.connection.DiConSerialPort;
 import jakarta.annotation.PostConstruct;
 import jakarta.annotation.Resource;
 import org.springframework.core.env.Environment;
+import org.springframework.core.io.ClassPathResource;
 import org.springframework.stereotype.Component;
+import org.yaml.snakeyaml.Yaml;
 
+import java.io.IOException;
+import java.io.InputStream;
 import java.lang.reflect.Constructor;
 import java.lang.reflect.InvocationTargetException;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Map;
 
 @Component
 public class DiDevice {
     @Resource
     private Environment env;
+    // config
+    private Map<String,Object> config;
     // connection
     private DiDeviceConnection connection;
     // io manager
     private DiDeviceIOManager io;
+    // register manager
+    private DiDeviceRegisterManager registers;
     // actuator manager
     private DiDeviceActuatorManager actuators;
+    // resource manager
+    private DiDeviceResourceManager resource;
     // task manager
     private DiTaskManager taskManager;
+    // message index
+    private short messageIndex = 0;
 
     @PostConstruct
     public void init() {
+        this.messageIndex = 0;
+
+        this.loadDeviceYml();
         this.setupConnection();
         this.io = new DiDeviceIOManager(this);
+        this.registers = new DiDeviceRegisterManager(this);
         this.actuators = new DiDeviceActuatorManager(this);
+        this.resource = new DiDeviceResourceManager(this);
         this.taskManager = new DiTaskManager(this);
     }
 
+    // load device.yml
+    private void loadDeviceYml() {
+        InputStream input = null;
+        try {
+            ClassPathResource resource = new ClassPathResource("device.yml");
+            input = resource.getInputStream();
+            Yaml yaml = new Yaml();
+            this.config = yaml.loadAs(input, Map.class);
+        } catch (Exception e) {
+            throw new RuntimeException(e);
+        } finally {
+            if (input != null) {
+                try {
+                    input.close();
+                } catch (IOException e) {
+                    throw new RuntimeException(e);
+                }
+            }
+        }
+    }
+
     // setup connection
     private void setupConnection() {
         String connectionClassName = this.env.getProperty("device.connection.class");
@@ -79,4 +121,103 @@ public class DiDevice {
     public Environment getEnv() {
         return this.env;
     }
+
+    // get resource manager
+    public DiDeviceResourceManager getResource() {
+        return this.resource;
+    }
+
+    // get register manager
+    public DiDeviceRegisterManager getRegisters() {
+        return this.registers;
+    }
+
+    // get config
+    public Map<String,Object> getConfig() {
+        return this.config;
+    }
+
+    // get config
+    public String getConfig( String path ) {
+        String[] parts = path.split("\\.");
+        Object config = this.config;
+        for ( int i=0; i<parts.length-1; i++ ) {
+            config = ((Map<String,Object>)config).get(parts[i]);
+        }
+        String lastKey = parts[parts.length-1];
+        return (String)((Map<String,Object>)config).get(lastKey);
+    }
+
+    // execute device command
+    protected DiCommandResponse call( DiCommand cmd, Integer mid, Object... args ) {
+        DiCommandRequest request = null;
+        String cmdMode = this.getConfig("connection.mode");
+        if ("text".equals(cmdMode)) {
+            request = this.buildCommandRequestForTextMode(cmd, mid, args);
+        } else if ("binary".equals(cmdMode) ) {
+            request = this.buildCommandRequestForBinaryMode(cmd, mid, args);
+        } else {
+            throw new RuntimeException("Unknown command mode: " + cmdMode);
+        }
+        request.parameterText = this.buildCommandRequestParameterText(cmd, mid, args);
+        this.getConnection().call(request);
+        return new DiCommandResponse(request.response);
+    }
+
+    // build command request parameter text
+    private String buildCommandRequestParameterText(DiCommand cmd, Integer mid, Object... args) {
+        List<String> parts = new ArrayList<>();
+        parts.add(cmd.getName());
+        parts.add(mid.toString());
+        for ( Object arg : args ) {
+            parts.add(arg.toString());
+        }
+        return String.join(" ", parts);
+    }
+
+    // build command buffer for text mode
+    private DiCommandRequest buildCommandRequestForTextMode(DiCommand cmd, Integer mid, Object... args) {
+        String command = this.buildCommandRequestParameterText(cmd, mid, args);
+        DiCommandRequest request = new DiCommandRequest();
+        request.parameter = ByteBuffer.wrap(command.getBytes());
+        return request;
+    }
+
+    // build command buffer for binary mode
+    private DiCommandRequest buildCommandRequestForBinaryMode(DiCommand cmd, Integer mid, Object... args) {
+        int length = 2/*PacketIndex*/ + 2/*MainCmdId*/ + 1/*SubCmdId*/ + 1/*CmdType*/ + 2/*ModuleId*/;
+        for ( Object param : args ) {
+            if ( param instanceof Integer ) {
+                length += 4;
+            } else {
+                throw new RuntimeException("param type error");
+            }
+        }
+        int cmdId = cmd.getCmdId();
+        int subCmdId = cmdId & 0xFF;
+        int mainCmdId = (cmdId >> 8) & 0xFFFF;
+        int moduleId = mid;
+
+        DiCommandRequest request = new DiCommandRequest();
+        request.id = this.messageIndex;
+        request.parameter = ByteBuffer.allocate(length);
+        request.parameter.order(ByteOrder.LITTLE_ENDIAN);
+        request.parameter.putShort(this.messageIndex);
+        request.parameter.putShort((short)mainCmdId); // main cmd id
+        request.parameter.put((byte)subCmdId); // sub cmd id
+        request.parameter.put((byte)0); // directive type
+        request.parameter.putShort((short)moduleId); // mid
+        for ( Object param : args ) {
+            if ( param instanceof Integer ) {
+                request.parameter.putInt((Integer)param);
+            }
+        }
+
+        this.messageIndex ++;
+        if ( this.messageIndex > 30000 ) {
+            this.messageIndex = 0;
+        }
+
+        return request;
+    }
 }

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

@@ -1,2 +1,11 @@
-package com.my.graphiteDigesterBg.diframe;public class DiDeviceRegister {
+package com.my.graphiteDigesterBg.diframe;
+public class DiDeviceRegister {
+    // key
+    public String key;
+    // module id
+    public Integer mid;
+    // index
+    public Integer index;
+    // default value
+    public Integer defaultValue;
 }

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

@@ -1,2 +1,52 @@
-package com.my.graphiteDigesterBg.diframe;public class DiDeviceRegisterManager {
+package com.my.graphiteDigesterBg.diframe;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+public class DiDeviceRegisterManager {
+    // device instance
+    private final DiDevice device;
+    // id => actuator
+    private final Map<String, DiDeviceRegister> registers;
+
+    // constructor
+    public DiDeviceRegisterManager(DiDevice device ) {
+        this.device = device;
+        this.registers = new HashMap<String, DiDeviceRegister>();
+    }
+
+    // setup
+    public void setup() {
+        Object config = this.device.getConfig().get("registers");
+        if ( config == null ) {
+            return;
+        }
+
+        if ( !(config instanceof List) ) {
+            throw new RuntimeException("Invalid registers config");
+        }
+
+        List<Map<String,Object>> registers = (List<Map<String, Object>>) config;
+        for ( Map<String,Object> register : registers ) {
+            DiDeviceRegister reg = new DiDeviceRegister();
+            reg.key = (String)register.get("key");
+            reg.mid = (Integer)register.get("mid");
+            reg.index = (Integer)register.get("index");
+            reg.defaultValue = (Integer)register.get("defaultValue");
+            this.registers.put(reg.key, reg);
+        }
+    }
+
+    // reset register to default value
+    public void resetAllByModuleId( Integer mid ) {
+        for ( DiDeviceRegister register : this.registers.values() ) {
+            if ( register.mid.equals(mid) ) {
+                this.device.call(DiCommand.MODULE_SET_REG, register.mid, register.index, register.defaultValue);
+            }
+        }
+    }
+
+    // get actuator
+    public void get( String id ) {
+        this.registers.get(id);
+    }
 }

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

@@ -1,4 +1,72 @@
 package com.my.graphiteDigesterBg.diframe;
-public class DiResourceManager {
+import com.my.graphiteDigesterBg.diframe.util.DiClassHelper;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import java.lang.reflect.Constructor;
+import java.lang.reflect.InvocationTargetException;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+public class DiDeviceResourceManager {
+    // logger
+    public static final Logger LOG = LoggerFactory.getLogger(DiTaskManager.class);
+    // device
+    private DiDevice device;
+    // resource managers
+    private final Map<String, DiResourceManager> managersNameMap;
+    // resource managers
+    private final Map<Class<?>, DiResourceManager> managersClassMap;
 
+    // constructor
+    public DiDeviceResourceManager(DiDevice device) {
+        this.device = device;
+        this.managersNameMap = new HashMap<>();
+        this.managersClassMap = new HashMap<>();
+    }
+
+    // get scan task classes
+    public void scanResourceManagerClasses( String packageName ) {
+        List<Class<?>> resManClasses = DiClassHelper.getAllClassesInPackage(packageName);
+        for ( Class<?> resManClass : resManClasses ) {
+            if ( DiResourceManagerBase.class.isAssignableFrom(resManClass) ) {
+                ResourceManager manAnnotation = resManClass.getAnnotation(ResourceManager.class);
+                if ( manAnnotation == null ) {
+                    continue;
+                }
+
+                LOG.info("(Resource) {} => {}", manAnnotation.name(), resManClass.getName());
+                DiResourceManager man = this.getDiResourceManagerInstance(resManClass);
+                this.managersNameMap.put(manAnnotation.name(), man);
+                this.managersClassMap.put(resManClass, man);
+            }
+        }
+    }
+
+    // get instance of resource manager
+    private DiResourceManager getDiResourceManagerInstance(Class<?> resManClass) {
+        Constructor<?> manConstructor = null;
+        try {
+            manConstructor = resManClass.getDeclaredConstructor();
+        } catch (NoSuchMethodException e) {
+            throw new RuntimeException(e);
+        }
+
+        DiResourceManager man = null;
+        try {
+            man = (DiResourceManager) manConstructor.newInstance();
+        } catch (InvocationTargetException | InstantiationException | IllegalAccessException e) {
+            throw new RuntimeException(e);
+        }
+        return man;
+    }
+
+    // get manager
+    public DiResourceManager getManager( String resourceType ) {
+        return this.managersNameMap.get(resourceType);
+    }
+
+    // get manager
+    public <T extends DiResourceManagerBase> T getManager( Class<T> clazz ) {
+        return (T)this.managersClassMap.get(clazz);
+    }
 }

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

@@ -1,2 +1,3 @@
-package com.my.graphiteDigesterBg.diframe;public interface DiResourceManager {
+package com.my.graphiteDigesterBg.diframe;
+public interface DiResourceManager {
 }

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

@@ -1,2 +1,4 @@
-package com.my.graphiteDigesterBg.diframe;public class DiResourceManagerBase {
+package com.my.graphiteDigesterBg.diframe;
+abstract public class DiResourceManagerBase implements DiResourceManager {
+
 }

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

@@ -1,4 +1,7 @@
 package com.my.graphiteDigesterBg.diframe;
+import com.my.graphiteDigesterBg.MyDevice;
+import com.my.graphiteDigesterBg.diframe.actuator.DiActMotor;
+
 import java.util.ArrayList;
 import java.util.List;
 abstract public class DiTaskBase implements DiTask {
@@ -58,4 +61,20 @@ abstract public class DiTaskBase implements DiTask {
     public void run() {
         this.status = TaskStatus.FINISHED;
     }
+
+    // get manager
+    public <T extends DiResourceManagerBase> T getResourceManager( Class<T> clazz ) {
+        return this.getDevice().getResource().getManager(clazz);
+    }
+
+    // get actuator
+    public DiActuator getActuator( String actuatorKey ) {
+        return this.getDevice().getActuators().get(actuatorKey);
+    }
+
+    // get actuator
+    public <T extends DiActuator> T getActuator( String actuatorKey, Class<T> clazz ) {
+        DiActuator actuator = this.getDevice().getActuators().get(actuatorKey);
+        return clazz.cast(actuator);
+    }
 }

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

@@ -1,5 +1,5 @@
 package com.my.graphiteDigesterBg.diframe;
-import com.my.graphiteDigesterBg.diframe.util.ClassHelper;
+import com.my.graphiteDigesterBg.diframe.util.DiClassHelper;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import java.lang.reflect.Constructor;
@@ -42,7 +42,7 @@ public class DiTaskManager {
 
     // get scan task classes
     public void scanTaskClasses( String packageName ) {
-        List<Class<?>> taskClasses = ClassHelper.getAllClassesInPackage(packageName);
+        List<Class<?>> taskClasses = DiClassHelper.getAllClassesInPackage(packageName);
         for ( Class<?> taskClass : taskClasses ) {
             if ( DiTaskBase.class.isAssignableFrom(taskClass) ) {
                 Task task = taskClass.getAnnotation(Task.class);

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

@@ -1,4 +1,4 @@
-package com.my.graphiteDigesterBg.diframe.util;
+package com.my.graphiteDigesterBg.diframe;
 import java.lang.annotation.Retention;
 import java.lang.annotation.RetentionPolicy;
 import java.lang.annotation.Target;

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

@@ -1,11 +1,15 @@
 package com.my.graphiteDigesterBg.diframe.actuator;
-
 import com.my.graphiteDigesterBg.diframe.DiActuatorBase;
-
+import com.my.graphiteDigesterBg.diframe.DiCommand;
 public class DiActMotor extends DiActuatorBase {
+    // reset motor to zero position
+    public void reset() {
+        this.call(DiCommand.MOTOR_EASY_MOVE_TO_ZERO, -1);
+        this.waitForFinish();
+    }
+
     public void moveTo( Integer pos ) {}
     public void moveBy( Integer delta ) {}
     public void rotate( Integer direction ) {}
     public void stop() {}
-    public void reset() {}
 }

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

@@ -3,4 +3,9 @@ package com.my.graphiteDigesterBg.diframe.actuator;
 import com.my.graphiteDigesterBg.diframe.DiActuatorBase;
 
 public class DiActServo extends DiActuatorBase {
+    public void moveTo( Integer pos ) {}
+    public void moveBy( Integer delta ) {}
+    public void rotate( Integer direction ) {}
+    public void stop() {}
+    public void reset() {}
 }

src/src/main/java/com/my/graphiteDigesterBg/diframe/connection/DiConSerialPort.java

@@ -5,10 +5,12 @@ import com.fazecast.jSerialComm.SerialPortEvent;
 import com.my.graphiteDigesterBg.diframe.DiCommandRequest;
 import com.my.graphiteDigesterBg.diframe.DiDevice;
 import com.my.graphiteDigesterBg.diframe.DiDeviceConnection;
+import com.my.graphiteDigesterBg.diframe.util.DiByteBuffer;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.core.env.Environment;
 import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.Timer;
@@ -110,15 +112,18 @@ public class DiConSerialPort implements DiDeviceConnection {
     // handle on data timeout for binary mode
     private void handleOnDataTimeoutForBinaryMode() {
         byte messageType = this.receivedData.get(5);
-        if ( 0x01 == messageType ) {
+        if ( 0x01 == messageType ) { // ack message
             this.handleOnDataTimeoutForBinaryModeAckMessage();
+        } else if ( 0x02 == messageType ) { // error message
+            throw new RuntimeException("error message received: " + DiByteBuffer.toHex(this.receivedData));
         } else {
-            throw new RuntimeException("unknown message type");
+            throw new RuntimeException("unknown message type : " + messageType + " <= " + DiByteBuffer.toHex(this.receivedData));
         }
     }
 
     // handle on data timeout for binary mode ack message
     private void handleOnDataTimeoutForBinaryModeAckMessage() {
+        this.receivedData.order(ByteOrder.LITTLE_ENDIAN);
         short messageId = this.receivedData.getShort(0);
         DiCommandRequest request = null;
         for ( DiCommandRequest requestItem : this.requests ) {
@@ -143,6 +148,7 @@ public class DiConSerialPort implements DiDeviceConnection {
         this.requests.add(request);
         byte[] data = request.parameter.array();
         this.connection.writeBytes(data, data.length);
+        LOG.info("Command => {} : [{}]", request.parameterText, DiByteBuffer.toHex(request.parameter));
         synchronized ( request ) {
             try {
                 request.wait();
@@ -150,6 +156,6 @@ public class DiConSerialPort implements DiDeviceConnection {
                 throw new RuntimeException(e);
             }
         }
-        LOG.info("Command response received: {}", request.response);
+        LOG.info("Command <= {}", DiByteBuffer.toHex(request.response));
     }
 }

src/src/main/java/com/my/graphiteDigesterBg/diframe/util/DiByteBuffer.java

@@ -1,4 +1,26 @@
 package com.my.graphiteDigesterBg.diframe.util;
-public class MyByteBuffer {
-    
+import java.nio.ByteBuffer;
+public class DiByteBuffer {
+    // convert byte buffer to hex string
+    public static String toHex ( ByteBuffer buffer ) {
+        StringBuilder sb = new StringBuilder();
+        for (int i = 0; i < buffer.limit(); i++) {
+            sb.append(String.format("%02X ", buffer.get(i)));
+        }
+        return sb.toString();
+    }
+
+    // convert hex string to byte buffer
+    public static ByteBuffer fromHex ( String hex ) {
+        // remove space
+        hex = hex.replaceAll(" ", "");
+        // convert hex string to byte array
+        byte[] bytes = new byte[hex.length() / 2];
+        for (int i = 0; i < hex.length(); i += 2) {
+            String sub = hex.substring(i, i + 2);
+            bytes[i / 2] = (byte) Integer.parseInt(sub, 16);
+        }
+        // convert byte array to byte buffer
+        return ByteBuffer.wrap(bytes);
+    }
 }

src/src/main/java/com/my/graphiteDigesterBg/diframe/util/DiClassHelper.java

@@ -5,7 +5,7 @@ import java.net.URL;
 import java.util.ArrayList;
 import java.util.Collections;
 import java.util.List;
-public class ClassHelper {
+public class DiClassHelper {
     // get all classes in package
     public static List<Class<?>> getAllClassesInPackage(String packageName) {
         List<Class<?>> classes = new ArrayList<>();
@@ -14,7 +14,7 @@ public class ClassHelper {
             List<URL> resources = Collections.list(Thread.currentThread().getContextClassLoader().getResources(packagePath));
             for (URL resource : resources) {
                 if ( "file".equals(resource.getProtocol()) ) {
-                    ClassHelper.getClassListByGivenFilePath(packageName,resource.getFile(), classes);
+                    DiClassHelper.getClassListByGivenFilePath(packageName,resource.getFile(), classes);
                 } else {
                     throw new RuntimeException("Unsupported protocol: " + resource.getProtocol());
                 }
@@ -30,7 +30,7 @@ public class ClassHelper {
         File file = new File(filePath);
         if ( file.isDirectory() ) {
             for ( File subFile : file.listFiles() ) {
-                ClassHelper.getClassListByGivenFilePath(packageName + "." + subFile.getName(), subFile.getAbsolutePath(), classes);
+                DiClassHelper.getClassListByGivenFilePath(packageName + "." + subFile.getName(), subFile.getAbsolutePath(), classes);
             }
         } else {
             if ( file.getName().endsWith(".class") ) {

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

@@ -1,4 +1,26 @@
 package com.my.graphiteDigesterBg.resource;
-public class HeatingTubeRackSlot {
+public class ResHeatingTubeRackSlot {
+    // index of slot
+    public Integer index;
+    // is slot locked
+    private Boolean isLocked;
 
+    public Integer getOperationWindowLocation() {
+        return 0;
+    }
+
+    // get is slot locked
+    public Boolean getIsLocked() {
+        return this.isLocked;
+    }
+
+    // lock slot
+    public void lock() {
+        this.isLocked = true;
+    }
+
+    // unlock slot
+    public void unlock() {
+        this.isLocked = false;
+    }
 }

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

@@ -1,10 +1,26 @@
 package com.my.graphiteDigesterBg.resource;
 import com.my.graphiteDigesterBg.diframe.DiResourceManagerBase;
-import com.my.graphiteDigesterBg.diframe.util.ResourceManager;
+import com.my.graphiteDigesterBg.diframe.ResourceManager;
+
+import java.util.ArrayList;
+import java.util.List;
 @ResourceManager(name="HeatingTubeRackSlot")
-public class HeatingTubeRackSlotManager extends DiResourceManagerBase {
+public class ResHeatingTubeRackSlotManager extends DiResourceManagerBase {
+    // slots
+    private List<ResHeatingTubeRackSlot> slots;
+
+    public ResHeatingTubeRackSlotManager() {
+        this.slots = new ArrayList<>();
+    }
+
     // get free slot
-    public HeatingTubeRackSlot getFreeSlot() {
-        return null;
+    public ResHeatingTubeRackSlot allocFreeSlot() {
+        for (ResHeatingTubeRackSlot slot : this.slots) {
+            if (!slot.getIsLocked()) {
+                slot.lock();
+                return slot;
+            }
+        }
+        throw new RuntimeException("No free slot");
     }
 }

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

@@ -3,8 +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.DiActPeristalticPump;
-
-@Task(name="digestion")
+@Task(name="Digestion")
 public class TaskDigestion extends DiTaskBase {
     @Override
     public void run() {

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

@@ -1,2 +1,24 @@
-package com.my.graphiteDigesterBg.task;public class TaskSampleAdd {
+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.DiActServo;
+import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlot;
+import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlotManager;
+@Task(name="SampleAdd")
+public class TaskSampleAdd extends DiTaskBase {
+    @Override
+    public void run() {
+        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);
+
+        this.setStatus(TaskStatus.FINISHED);
+    }
 }

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

@@ -1,2 +1,24 @@
-package com.my.graphiteDigesterBg.task;public class TaskStartReset {
+package com.my.graphiteDigesterBg.task;
+import com.my.graphiteDigesterBg.MyDevice;
+import com.my.graphiteDigesterBg.diframe.DiDeviceRegisterManager;
+import com.my.graphiteDigesterBg.diframe.DiTaskBase;
+import com.my.graphiteDigesterBg.diframe.Task;
+import com.my.graphiteDigesterBg.diframe.actuator.DiActMotor;
+@Task(name="StartReset")
+public class TaskStartReset extends DiTaskBase {
+    @Override
+    public void run() {
+        DiDeviceRegisterManager registers = this.getDevice().getRegisters();
+
+        // 加液机械臂启用并复位
+        DiActMotor liquidMotor = this.getActuator(MyDevice.ACT_LIQUID_MOTOR, DiActMotor.class);
+        liquidMotor.setEnable(true);
+        registers.resetAllByModuleId(liquidMotor.getMid());
+        liquidMotor.activeConfig();
+        liquidMotor.reset();
+
+
+
+        this.setStatus(TaskStatus.FINISHED);
+    }
 }

src/src/main/resources/application.yml

@@ -1,7 +1,19 @@
 device :
   connection :
     class : com.my.graphiteDigesterBg.diframe.connection.DiConSerialPort
-    path : COM1
-    baudRate : 9600
+    path : COM7
+    baudRate : 921600
     frameTimeout : 1000
-    mode : binary # text | hex | binary
+    mode : binary # text | hex | binary
+  # device registers
+  registers : ["1", "2"]
+#    - {name: "LiquidMotorShaft" , mid : 41, index : 1051, defaultValue : 1}
+#    - {name: "LiquidMotorOneCirclePulse" , mid : 41, index : 1052, defaultValue : 10000}
+#    - {name: "LiquidMotorOneCirclePulseDenominator" , mid : 41, index : 1053, defaultValue : 18}
+#    - {name: "LiquidMotorDefaultVelocity" , mid : 41, index : 1054, defaultValue : 40}
+#    - {name: "LiquidMotorDefaultAcc" , mid : 41, index : 1055, defaultValue : 2}
+#    - {name: "LiquidMotorDefaultDec" , mid : 41, index : 1056, defaultValue : 2}
+#    - {name: "LiquidMotorRunToZeroSpeed" , mid : 41, index : 1073, defaultValue : 50}
+#    - {name: "LiquidMotorRunToZeroDec" , mid : 41, index : 1074, defaultValue : 30}
+#    - {name: "LiquidMotorLookZeroEdgeSpeed" , mid : 41, index : 1075, defaultValue : 25}
+#    - {name: "LiquidMotorLookZeroEdgeDec" , mid : 41, index : 1076, defaultValue : 30}

src/src/main/resources/device.yml

@@ -0,0 +1,18 @@
+connection :
+  class : com.my.graphiteDigesterBg.diframe.connection.DiConSerialPort
+  path : COM7
+  baudRate : 921600
+  frameTimeout : 1000
+  mode : binary # text | hex | binary
+# device registers
+registers :
+  - {key: "LiquidMotorShaft" , mid : 41, index : 1051, defaultValue : 1}
+  - {key: "LiquidMotorOneCirclePulse" , mid : 41, index : 1052, defaultValue : 10000}
+  - {key: "LiquidMotorOneCirclePulseDenominator" , mid : 41, index : 1053, defaultValue : 18}
+  - {key: "LiquidMotorDefaultVelocity" , mid : 41, index : 1054, defaultValue : 40}
+  - {key: "LiquidMotorDefaultAcc" , mid : 41, index : 1055, defaultValue : 2}
+  - {key: "LiquidMotorDefaultDec" , mid : 41, index : 1056, defaultValue : 2}
+  - {key: "LiquidMotorRunToZeroSpeed" , mid : 41, index : 1073, defaultValue : 50}
+  - {key: "LiquidMotorRunToZeroDec" , mid : 41, index : 1074, defaultValue : 30}
+  - {key: "LiquidMotorLookZeroEdgeSpeed" , mid : 41, index : 1075, defaultValue : 25}
+  - {key: "LiquidMotorLookZeroEdgeDec" , mid : 41, index : 1076, defaultValue : 30}

src/web/package-lock.json

@@ -9,6 +9,7 @@
       "version": "0.1.0",
       "dependencies": {
         "ant-design-vue": "^4.1.1",
+        "axios": "^1.6.5",
         "core-js": "^3.8.3",
         "vue": "^3.2.13"
       },
@@ -3707,6 +3708,11 @@
       "resolved": "https://registry.npmmirror.com/async-validator/-/async-validator-4.2.5.tgz",
       "integrity": "sha512-7HhHjtERjqlNbZtqNqy2rckN/SpOOlmDliet+lP7k+eKZEjPk3DgyeU9lIXLdeLz0uBbbVp+9Qdow9wJWgwwfg=="
     },
+    "node_modules/asynckit": {
+      "version": "0.4.0",
+      "resolved": "https://registry.npmmirror.com/asynckit/-/asynckit-0.4.0.tgz",
+      "integrity": "sha512-Oei9OH4tRh0YqU3GxhX79dM/mwVgvbZJaSNaRk+bshkj0S5cfHcgYakreBjrHwatXKbz+IoIdYLxrKim2MjW0Q=="
+    },
     "node_modules/at-least-node": {
       "version": "1.0.0",
       "resolved": "https://registry.npmmirror.com/at-least-node/-/at-least-node-1.0.0.tgz",
@@ -3739,6 +3745,16 @@
         "postcss": "^8.1.0"
       }
     },
+    "node_modules/axios": {
+      "version": "1.6.5",
+      "resolved": "https://registry.npmmirror.com/axios/-/axios-1.6.5.tgz",
+      "integrity": "sha512-Ii012v05KEVuUoFWmMW/UQv9aRIc3ZwkWDcM+h5Il8izZCtRVpDUfwpoFf7eOtajT3QiGR4yDUx7lPqHJULgbg==",
+      "dependencies": {
+        "follow-redirects": "^1.15.4",
+        "form-data": "^4.0.0",
+        "proxy-from-env": "^1.1.0"
+      }
+    },
     "node_modules/babel-loader": {
       "version": "8.3.0",
       "resolved": "https://registry.npmmirror.com/babel-loader/-/babel-loader-8.3.0.tgz",
@@ -4360,6 +4376,17 @@
       "integrity": "sha512-IfEDxwoWIjkeXL1eXcDiow4UbKjhLdq6/EuSVR9GMN7KVH3r9gQ83e73hsz1Nd1T3ijd5xv1wcWRYO+D6kCI2w==",
       "dev": true
     },
+    "node_modules/combined-stream": {
+      "version": "1.0.8",
+      "resolved": "https://registry.npmmirror.com/combined-stream/-/combined-stream-1.0.8.tgz",
+      "integrity": "sha512-FQN4MRfuJeHf7cBbBMJFXhKSDq+2kAArBlmRBvcvFE5BB1HZKXtSFASDhdlz9zOYwxh8lDdnvmMOe/+5cdoEdg==",
+      "dependencies": {
+        "delayed-stream": "~1.0.0"
+      },
+      "engines": {
+        "node": ">= 0.8"
+      }
+    },
     "node_modules/commander": {
       "version": "8.3.0",
       "resolved": "https://registry.npmmirror.com/commander/-/commander-8.3.0.tgz",
@@ -5089,6 +5116,14 @@
         "node": ">= 0.4"
       }
     },
+    "node_modules/delayed-stream": {
+      "version": "1.0.0",
+      "resolved": "https://registry.npmmirror.com/delayed-stream/-/delayed-stream-1.0.0.tgz",
+      "integrity": "sha512-ZySD7Nf91aLB0RxL4KGrKHBXl7Eds1DAmEdcoVawXnLD7SDhpNgtuII2aAkg7a7QS41jxPSZ17p4VdGnMHk3MQ==",
+      "engines": {
+        "node": ">=0.4.0"
+      }
+    },
     "node_modules/depd": {
       "version": "2.0.0",
       "resolved": "https://registry.npmmirror.com/depd/-/depd-2.0.0.tgz",
@@ -6290,7 +6325,6 @@
       "version": "1.15.5",
       "resolved": "https://registry.npmmirror.com/follow-redirects/-/follow-redirects-1.15.5.tgz",
       "integrity": "sha512-vSFWUON1B+yAw1VN4xMfxgn5fTUiaOzAJCKBwIIgT/+7CuGy9+r+5gITvP62j3RmaD5Ph65UaERdOSRGUzZtgw==",
-      "dev": true,
       "engines": {
         "node": ">=4.0"
       },
@@ -6381,6 +6415,19 @@
         "node": ">= 8"
       }
     },
+    "node_modules/form-data": {
+      "version": "4.0.0",
+      "resolved": "https://registry.npmmirror.com/form-data/-/form-data-4.0.0.tgz",
+      "integrity": "sha512-ETEklSGi5t0QMZuiXoA/Q6vcnxcLQP5vdugSpuAyi6SVGi2clPPp+xgEhuMaHC+zGgn31Kd235W35f7Hykkaww==",
+      "dependencies": {
+        "asynckit": "^0.4.0",
+        "combined-stream": "^1.0.8",
+        "mime-types": "^2.1.12"
+      },
+      "engines": {
+        "node": ">= 6"
+      }
+    },
     "node_modules/forwarded": {
       "version": "0.2.0",
       "resolved": "https://registry.npmmirror.com/forwarded/-/forwarded-0.2.0.tgz",
@@ -7827,7 +7874,6 @@
       "version": "1.52.0",
       "resolved": "https://registry.npmmirror.com/mime-db/-/mime-db-1.52.0.tgz",
       "integrity": "sha512-sPU4uV7dYlvtWJxwwxHD0PuihVNiE7TyAbQ5SWxDCB9mUYvOgroQOwYQQOKPJ8CIbE+1ETVlOoK1UC2nU3gYvg==",
-      "dev": true,
       "engines": {
         "node": ">= 0.6"
       }
@@ -7836,7 +7882,6 @@
       "version": "2.1.35",
       "resolved": "https://registry.npmmirror.com/mime-types/-/mime-types-2.1.35.tgz",
       "integrity": "sha512-ZDY+bPm5zTTF+YpCrAU9nK0UgICYPT0QtT1NZWFv4s++TNkcgVaT0g6+4R2uI4MjQjzysHB1zxuWL50hzaeXiw==",
-      "dev": true,
       "dependencies": {
         "mime-db": "1.52.0"
       },
@@ -9390,6 +9435,11 @@
         "node": ">= 0.10"
       }
     },
+    "node_modules/proxy-from-env": {
+      "version": "1.1.0",
+      "resolved": "https://registry.npmmirror.com/proxy-from-env/-/proxy-from-env-1.1.0.tgz",
+      "integrity": "sha512-D+zkORCbA9f1tdWRK0RaCR3GPv50cMxcrz4X8k5LTSUD1Dkw47mKJEZQNunItRTkWwgtaUSo1RVFRIG9ZXiFYg=="
+    },
     "node_modules/pseudomap": {
       "version": "1.0.2",
       "resolved": "https://registry.npmmirror.com/pseudomap/-/pseudomap-1.0.2.tgz",
@@ -14737,6 +14787,11 @@
       "resolved": "https://registry.npmmirror.com/async-validator/-/async-validator-4.2.5.tgz",
       "integrity": "sha512-7HhHjtERjqlNbZtqNqy2rckN/SpOOlmDliet+lP7k+eKZEjPk3DgyeU9lIXLdeLz0uBbbVp+9Qdow9wJWgwwfg=="
     },
+    "asynckit": {
+      "version": "0.4.0",
+      "resolved": "https://registry.npmmirror.com/asynckit/-/asynckit-0.4.0.tgz",
+      "integrity": "sha512-Oei9OH4tRh0YqU3GxhX79dM/mwVgvbZJaSNaRk+bshkj0S5cfHcgYakreBjrHwatXKbz+IoIdYLxrKim2MjW0Q=="
+    },
     "at-least-node": {
       "version": "1.0.0",
       "resolved": "https://registry.npmmirror.com/at-least-node/-/at-least-node-1.0.0.tgz",
@@ -14757,6 +14812,16 @@
         "postcss-value-parser": "^4.2.0"
       }
     },
+    "axios": {
+      "version": "1.6.5",
+      "resolved": "https://registry.npmmirror.com/axios/-/axios-1.6.5.tgz",
+      "integrity": "sha512-Ii012v05KEVuUoFWmMW/UQv9aRIc3ZwkWDcM+h5Il8izZCtRVpDUfwpoFf7eOtajT3QiGR4yDUx7lPqHJULgbg==",
+      "requires": {
+        "follow-redirects": "^1.15.4",
+        "form-data": "^4.0.0",
+        "proxy-from-env": "^1.1.0"
+      }
+    },
     "babel-loader": {
       "version": "8.3.0",
       "resolved": "https://registry.npmmirror.com/babel-loader/-/babel-loader-8.3.0.tgz",
@@ -15274,6 +15339,14 @@
       "integrity": "sha512-IfEDxwoWIjkeXL1eXcDiow4UbKjhLdq6/EuSVR9GMN7KVH3r9gQ83e73hsz1Nd1T3ijd5xv1wcWRYO+D6kCI2w==",
       "dev": true
     },
+    "combined-stream": {
+      "version": "1.0.8",
+      "resolved": "https://registry.npmmirror.com/combined-stream/-/combined-stream-1.0.8.tgz",
+      "integrity": "sha512-FQN4MRfuJeHf7cBbBMJFXhKSDq+2kAArBlmRBvcvFE5BB1HZKXtSFASDhdlz9zOYwxh8lDdnvmMOe/+5cdoEdg==",
+      "requires": {
+        "delayed-stream": "~1.0.0"
+      }
+    },
     "commander": {
       "version": "8.3.0",
       "resolved": "https://registry.npmmirror.com/commander/-/commander-8.3.0.tgz",
@@ -15840,6 +15913,11 @@
         "object-keys": "^1.1.1"
       }
     },
+    "delayed-stream": {
+      "version": "1.0.0",
+      "resolved": "https://registry.npmmirror.com/delayed-stream/-/delayed-stream-1.0.0.tgz",
+      "integrity": "sha512-ZySD7Nf91aLB0RxL4KGrKHBXl7Eds1DAmEdcoVawXnLD7SDhpNgtuII2aAkg7a7QS41jxPSZ17p4VdGnMHk3MQ=="
+    },
     "depd": {
       "version": "2.0.0",
       "resolved": "https://registry.npmmirror.com/depd/-/depd-2.0.0.tgz",
@@ -16814,8 +16892,7 @@
     "follow-redirects": {
       "version": "1.15.5",
       "resolved": "https://registry.npmmirror.com/follow-redirects/-/follow-redirects-1.15.5.tgz",
-      "integrity": "sha512-vSFWUON1B+yAw1VN4xMfxgn5fTUiaOzAJCKBwIIgT/+7CuGy9+r+5gITvP62j3RmaD5Ph65UaERdOSRGUzZtgw==",
-      "dev": true
+      "integrity": "sha512-vSFWUON1B+yAw1VN4xMfxgn5fTUiaOzAJCKBwIIgT/+7CuGy9+r+5gITvP62j3RmaD5Ph65UaERdOSRGUzZtgw=="
     },
     "foreground-child": {
       "version": "3.1.1",
@@ -16876,6 +16953,16 @@
         }
       }
     },
+    "form-data": {
+      "version": "4.0.0",
+      "resolved": "https://registry.npmmirror.com/form-data/-/form-data-4.0.0.tgz",
+      "integrity": "sha512-ETEklSGi5t0QMZuiXoA/Q6vcnxcLQP5vdugSpuAyi6SVGi2clPPp+xgEhuMaHC+zGgn31Kd235W35f7Hykkaww==",
+      "requires": {
+        "asynckit": "^0.4.0",
+        "combined-stream": "^1.0.8",
+        "mime-types": "^2.1.12"
+      }
+    },
     "forwarded": {
       "version": "0.2.0",
       "resolved": "https://registry.npmmirror.com/forwarded/-/forwarded-0.2.0.tgz",
@@ -18022,14 +18109,12 @@
     "mime-db": {
       "version": "1.52.0",
       "resolved": "https://registry.npmmirror.com/mime-db/-/mime-db-1.52.0.tgz",
-      "integrity": "sha512-sPU4uV7dYlvtWJxwwxHD0PuihVNiE7TyAbQ5SWxDCB9mUYvOgroQOwYQQOKPJ8CIbE+1ETVlOoK1UC2nU3gYvg==",
-      "dev": true
+      "integrity": "sha512-sPU4uV7dYlvtWJxwwxHD0PuihVNiE7TyAbQ5SWxDCB9mUYvOgroQOwYQQOKPJ8CIbE+1ETVlOoK1UC2nU3gYvg=="
     },
     "mime-types": {
       "version": "2.1.35",
       "resolved": "https://registry.npmmirror.com/mime-types/-/mime-types-2.1.35.tgz",
       "integrity": "sha512-ZDY+bPm5zTTF+YpCrAU9nK0UgICYPT0QtT1NZWFv4s++TNkcgVaT0g6+4R2uI4MjQjzysHB1zxuWL50hzaeXiw==",
-      "dev": true,
       "requires": {
         "mime-db": "1.52.0"
       }
@@ -19162,6 +19247,11 @@
         }
       }
     },
+    "proxy-from-env": {
+      "version": "1.1.0",
+      "resolved": "https://registry.npmmirror.com/proxy-from-env/-/proxy-from-env-1.1.0.tgz",
+      "integrity": "sha512-D+zkORCbA9f1tdWRK0RaCR3GPv50cMxcrz4X8k5LTSUD1Dkw47mKJEZQNunItRTkWwgtaUSo1RVFRIG9ZXiFYg=="
+    },
     "pseudomap": {
       "version": "1.0.2",
       "resolved": "https://registry.npmmirror.com/pseudomap/-/pseudomap-1.0.2.tgz",

src/web/package.json

@@ -9,6 +9,7 @@
   },
   "dependencies": {
     "ant-design-vue": "^4.1.1",
+    "axios": "^1.6.5",
     "core-js": "^3.8.3",
     "vue": "^3.2.13"
   },
@@ -37,7 +38,7 @@
       "parser": "@babel/eslint-parser"
     },
     "rules": {
-      "vue/multi-word-component-names" : "off"
+      "vue/multi-word-component-names": "off"
     }
   },
   "browserslist": [

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

@@ -44,12 +44,20 @@
               </div>
             </div>
           </div>
-          <div class="mt-3 flex flex-row justify-around">
-            <a-button>暂停加热</a-button>
-            <a-button>清洗石墨盘</a-button>
-            <a-button>加载预设</a-button>
-            <a-button>加酸</a-button>
-            <a-button>加热</a-button>
+          <div class="mt-3">
+            <a-row>
+              <a-col :span="12" class="text-left">
+                <!-- <a-button>暂停加热</a-button>
+                <a-button>清洗石墨盘</a-button>
+                <a-button>加载预设</a-button>
+                <a-button>加酸</a-button>
+                <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-col>
+            </a-row>
           </div>
         </div>
       </a-col>
@@ -96,6 +104,14 @@
   </div>
 </div>
 </template>
+<script setup>
+import ApiClient from '@/utils/ApiClient.js';
+// 样本添加
+async function actionSampleAdd() {
+    let client = ApiClient.getClient();
+    await client.taskAppend('sampleAdd');
+}
+</script>
 <style scoped>
 .heating-plate {background: #EEEFF8;border: solid 12px #E5E7F2;}
 .tube-rack-slot .title {font-size: 16px;font-weight: bold;letter-spacing: 0.06em;top:-45px;color: #D6D9F1;}