设备停止初始化

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

@@ -1,20 +1,86 @@
 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.DiActCameraBasler;
+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.model.MdbOperationLog;
+import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlotManager;
 @Task(name="StopReset")
 public class TaskStopReset extends DiTaskBase {
     @Override
     protected void execute() {
         this.setStatus(TaskStatus.RUNNING);
         MdbOperationLog.log(this.getUser(), "停止复位");
+        var runtimeVars = this.getDevice().getRuntimeVariables();
 
-        // @TODO : 停止并复位
-        try {
-            Thread.sleep(3000);
-        } catch (InterruptedException e) {
-            throw new RuntimeException(e);
+        // 结束温度刷新
+        var slotMan = this.getResourceManager(ResHeatingTubeRackSlotManager.class);
+        slotMan.stopTemperatureRefresh();
+
+        // 相机关闭
+        DiActCameraBasler camera = this.getActuator(MyDevice.ACT_CAMERA, DiActCameraBasler.class);
+        camera.setEnable(false);
+
+        // 关闭设备门
+        DiActMotor doorMotor = this.getActuator(MyDevice.ACT_DOOR_MOTOR, DiActMotor.class);
+        doorMotor.moveToIO(1, 1);
+        doorMotor.setEnable(false);
+
+        // 关闭夹爪
+        DiActServo transferClipServo = this.getActuator(MyDevice.ACT_TRANSFER_CLIP_SERVO, DiActServo.class);
+        transferClipServo.moveTo("TransClipServoClose");
+        transferClipServo.setEnable(false);
+
+        // 加液臂复位
+        DiActMotor liquidMotor = this.getActuator(MyDevice.ACT_LIQUID_MOTOR, DiActMotor.class);
+        liquidMotor.reset();
+        liquidMotor.moveTo("LiquidArmStandby");
+        liquidMotor.setEnable(false);
+
+        // 搬运机械臂上下移动复
+        DiActMotor transUdMotor = this.getActuator(MyDevice.ACT_TRANSFER_UD_MOTOR, DiActMotor.class);
+        transUdMotor.reset();
+        transUdMotor.moveTo("TransUdMotorStandby");
+        transUdMotor.setEnable(false);
+
+        // 搬运机械臂左右移动复
+        DiActMotor transLrMotor = this.getActuator(MyDevice.ACT_TRANSFER_LR_MOTOR, DiActMotor.class);
+        transLrMotor.reset();
+        transLrMotor.moveTo("TransLrMotorStandby");
+        transLrMotor.setEnable(false);
+
+        // 加热盘转盘槽盖关闭
+        for ( int i=0; i<5; i++ ) {
+            String key = "HeatingPlateMotorSlotCover_" + i;
+            DiActServo heatSlotCoverServo = this.getActuator(key, DiActServo.class);
+            heatSlotCoverServo.setEnable(false);
+        }
+
+        // 加热盘转盘复位
+        DiActMotor liquidPlateMotor = this.getActuator(MyDevice.ACT_LIQUID_PLATE_MOTOR, DiActMotor.class);
+        liquidPlateMotor.reset();
+        liquidPlateMotor.setEnable(false);
+
+        // 加热盘转盘复位
+        DiActMotor heatPlateMotor = this.getActuator(MyDevice.ACT_HEAT_PLATE_MOTOR, DiActMotor.class);
+        heatPlateMotor.reset();
+        heatPlateMotor.moveTo("HeatPlateStandby");
+        heatPlateMotor.setEnable(false);
+
+        // 蠕动泵复位
+        int peristalticPumpCount = 1;
+        var actuators = this.getDevice().getActuators().getAll();
+        for ( var actuator : actuators ) {
+            if (actuator instanceof DiActPeristalticPump pump) {
+                pump.setEnable(false);
+                peristalticPumpCount++;
+            }
         }
+
+        runtimeVars.setString("NO","IsDeviceReady");
         this.setStatus(TaskStatus.FINISHED);
     }
 }