加液

src/pom.xml

@@ -38,6 +38,21 @@
             <artifactId>snakeyaml</artifactId>
             <version>1.33</version>
         </dependency>
+        <dependency>
+            <groupId>org.xerial</groupId>
+            <artifactId>sqlite-jdbc</artifactId>
+            <version>3.43.2.0</version>
+        </dependency>
+        <dependency>
+            <groupId>org.mybatis.spring.boot</groupId>
+            <artifactId>mybatis-spring-boot-starter</artifactId>
+            <version>3.0.2</version>
+        </dependency>
+        <dependency>
+            <groupId>org.flywaydb</groupId>
+            <artifactId>flyway-core</artifactId>
+            <version>9.21.0</version>
+        </dependency>
     </dependencies>
 
     <build>

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

@@ -0,0 +1,4 @@
+package com.my.graphiteDigesterBg.diframe;
+abstract public class DiActiveRecord {
+
+}

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

@@ -0,0 +1,18 @@
+package com.my.graphiteDigesterBg.diframe;
+abstract public class DiTaskMoveBase {
+    // device
+    private DiDevice device;
+
+    // set device
+    public void setDevice(DiDevice device) {
+        this.device = device;
+    }
+
+    // get device
+    public DiDevice getDevice() {
+        return this.device;
+    }
+
+    // run
+    abstract public void run();
+}

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

@@ -2,6 +2,13 @@ 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);
+        this.waitForFinish();
+    }
+
     public void rotate() {
         this.call(DiCommand.MOTOR_EASY_MOVE_BY, 100 * 30);
     }

src/src/main/java/com/my/graphiteDigesterBg/diframe/mapper/DiActiveRecordMapper.java

@@ -0,0 +1,9 @@
+package com.my.graphiteDigesterBg.diframe.mapper;
+import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Select;
+import java.util.Map;
+@Mapper
+public interface DiActiveRecordMapper {
+    @Select("SELECT * FROM ${tableName} WHERE id = #{id}")
+    Map<String,Object> findById(String tableName, Integer id);
+}

src/src/main/java/com/my/graphiteDigesterBg/diframe/model/MdbUser.java

@@ -0,0 +1,5 @@
+package com.my.graphiteDigesterBg.diframe.model;
+import com.my.graphiteDigesterBg.diframe.DiActiveRecord;
+public class MdbUser extends DiActiveRecord {
+
+}

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

@@ -0,0 +1,13 @@
+package com.my.graphiteDigesterBg.move;
+import com.my.graphiteDigesterBg.diframe.DiDevice;
+import com.my.graphiteDigesterBg.diframe.DiTaskMoveBase;
+public class MoveMoveTubeRackFromHeatPlateToLiquidPlate extends DiTaskMoveBase {
+    // slot index
+    public Integer slotIndex;
+
+    // execute
+    @Override
+    public void run() {
+
+    }
+}

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

@@ -0,0 +1,103 @@
+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.MoveMoveTubeRackFromHeatPlateToLiquidPlate;
+import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlot;
+import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlotManager;
+@Task(name="LiquidAdd")
+public class TaskLiquidAdd extends DiTaskBase {
+    // slot index
+    public Integer slotIndex;
+    // liquid index
+    public Integer liquidIndex;
+    // liquid volume
+    public Integer liquidVolume;
+    // shake times
+    public Integer shakeTimes;
+
+    @Override
+    public void run() {
+        ResHeatingTubeRackSlotManager heatingSlotMan = this.getResourceManager(ResHeatingTubeRackSlotManager.class);
+        ResHeatingTubeRackSlot slot = heatingSlotMan.getSlotByIndex(this.slotIndex);
+
+        DiActMotor heatPlateMotor = this.getActuator(MyDevice.ACT_HEAT_PLATE_MOTOR, DiActMotor.class);
+        DiActMotor transLrMotor = this.getActuator(MyDevice.ACT_TRANSFER_LR_MOTOR, DiActMotor.class);
+        DiActMotor transUdMotor = this.getActuator(MyDevice.ACT_TRANSFER_UD_MOTOR, DiActMotor.class);
+        DiActServo transferClipServo = this.getActuator(MyDevice.ACT_TRANSFER_CLIP_SERVO, DiActServo.class);
+        DiActMotor liquidPlateMotor = this.getActuator(MyDevice.ACT_LIQUID_PLATE_MOTOR, DiActMotor.class);
+        DiActMotor liquidMotor = this.getActuator(MyDevice.ACT_LIQUID_MOTOR, DiActMotor.class);
+
+        // move tube rack from heat plate to liquid plate
+        var moveTubeRackFromHeatPlateToLiquidPlate = new MoveMoveTubeRackFromHeatPlateToLiquidPlate();
+        moveTubeRackFromHeatPlateToLiquidPlate.setDevice(this.getDevice());
+        moveTubeRackFromHeatPlateToLiquidPlate.slotIndex = this.slotIndex;
+        moveTubeRackFromHeatPlateToLiquidPlate.run();
+
+//        // 加热盘转盘移动到取放架位置
+//        heatPlateMotor.moveTo(8580); // @TODO : 这里要根据位置计算 ~~~
+//        // 打开试管架盖
+//        slot.coverOpen();
+        // 搬运上升到顶部
+        transUdMotor.moveTo(1300);
+//        // 搬运移动到加热取架位置
+//        transLrMotor.moveTo(1620);
+//        // 搬运下降到取架位置
+//        transUdMotor.moveTo(130);
+//        // 打开试管架夹爪
+//        transferClipServo.moveTo(2670);
+//        // 搬运上升到顶部
+//        transUdMotor.moveTo(1300);
+//        // 搬运移动到加液取放架位置
+//        transLrMotor.moveTo(365);
+//        // 加液转盘移动到取放位置
+//        liquidPlateMotor.moveTo(642);
+//        // 搬运下降到放架位置
+//        transUdMotor.moveTo(540);
+//        // 关闭试管架夹爪
+//        transferClipServo.moveTo(2073);
+//        // 搬运上升到顶部
+//        transUdMotor.moveTo(1300);
+//        // 关闭试管架盖
+//        slot.coverClose();
+        // 搬运移动到就绪位置
+        transLrMotor.moveTo(1000);
+
+        String liquidPeristalticPumpKey = "liquidPeristalticPump_" + this.liquidIndex;
+        DiActPeristalticPump liquidPump = this.getActuator(liquidPeristalticPumpKey, DiActPeristalticPump.class);
+
+        // 外圈试管加液
+        // 加液机械臂移动到加液位置
+//        liquidMotor.moveTo(1100);
+//        for ( int i=0; i<4; i++ ) {
+//            // 加液转盘移动到加液位置
+//            liquidPlateMotor.moveTo(800 + 2500 * i);
+//            // 加液指定数量
+//            liquidPump.pump(this.liquidVolume);
+//        }
+        // 内圈试管加液
+        // 加液转盘移动到加液位置
+        liquidPlateMotor.moveTo(800);
+        for ( int i=0; i<4; i++ ) {
+            // 加液转盘移动到加液位置
+            liquidPlateMotor.moveTo(800 + 2500 * i);
+            // 加液指定数量
+            liquidPump.pump(this.liquidVolume);
+        }
+        liquidMotor.moveTo(0);
+
+        // 加液盘摇匀
+        for ( int i=0; i<this.shakeTimes; i++ ) {
+            liquidPlateMotor.moveTo(200);
+            liquidPlateMotor.moveTo(0);
+        }
+
+        // 加液完了再放回去 ~~~
+        // @TODO : 放回去, 这里要直接用 Step 了 ~~~
+
+        this.setStatus(TaskStatus.FINISHED);
+    }
+}

src/src/main/resources/application.yml

@@ -1,3 +1,10 @@
+spring:
+  datasource:
+    url: jdbc:sqlite:D:/device.db
+    username:
+    password:
+    driver-class-name: org.sqlite.JDBC # sqlite驱动
+
 device :
   connection :
     class : com.my.graphiteDigesterBg.diframe.connection.DiConSerialPort