样本取出

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

@@ -1,118 +1,9 @@
 package com.my.graphiteDigesterBg;
-import org.opencv.core.*;
-import org.opencv.highgui.HighGui;
-import org.opencv.imgcodecs.Imgcodecs;
-import org.opencv.imgproc.Imgproc;
-import org.springframework.beans.factory.annotation.Value;
 import org.springframework.boot.SpringApplication;
 import org.springframework.boot.autoconfigure.SpringBootApplication;
-
-import java.util.ArrayList;
-import java.util.List;
-
 @SpringBootApplication
 public class MyApplication {
     public static void main(String[] args) {
         SpringApplication.run(MyApplication.class, args);
     }
-
-    private static void test() {
-        System.load("D:/ProgramFiles/OpenCV/opencv/build/java/x64/opencv_java490.dll");
-        var srcImg = Imgcodecs.imread("D:/image.png");
-        HighGui.imshow("preview", srcImg);
-        HighGui.waitKey(100);
-
-        // resize to 800x800
-        var size = new Size(800, 800);
-        var resizedImg = new Mat(800, 800, CvType.CV_8UC3);
-        Imgproc.resize(srcImg, resizedImg, size);
-        var resizedSrcImg = resizedImg.clone();
-
-        // slots
-        var leftOffset = 100;
-        var topOffset = 100;
-        var xDistance = 200;
-        var yDistance = 200;
-        int radius = 80;
-        int thickness = 5;
-        List<MatOfPoint> slotContours = new ArrayList<>();
-        Scalar color = new Scalar(0, 0, 255);
-        for ( var i=0; i<16; i++) {
-            var centerX = leftOffset + (i%4)*xDistance;
-            var centerY = topOffset + (i/4)*yDistance;
-            Point center = new Point(centerX, centerY);
-            Imgproc.circle(resizedImg, center, radius, color, thickness);
-
-            List<Point> pointsList = new ArrayList<>();
-            for (int angle = 0; angle <= 360; angle += 10) {
-                double x = center.x + radius * Math.cos(Math.toRadians(angle));
-                double y = center.y + radius * Math.sin(Math.toRadians(angle));
-                pointsList.add(new Point(x, y));
-            }
-
-            // Convert List<Point> to MatOfPoint
-            MatOfPoint matOfPoint = new MatOfPoint();
-            matOfPoint.fromList(pointsList);
-            slotContours.add(matOfPoint);
-        }
-        HighGui.imshow("preview", resizedImg);
-        HighGui.waitKey(100);
-
-        var grayImg = new Mat();
-        Imgproc.cvtColor(resizedSrcImg, grayImg, Imgproc.COLOR_BGR2GRAY);
-        HighGui.imshow("preview", grayImg);
-        HighGui.waitKey(100);
-
-        var blurImg = new Mat();
-        Imgproc.blur(grayImg, blurImg, new org.opencv.core.Size(30, 30));
-        HighGui.imshow("preview", blurImg);
-        HighGui.waitKey(100);
-
-        var wbImg = new Mat();
-        Imgproc.threshold(blurImg, wbImg, 0, 255, Imgproc.THRESH_BINARY | Imgproc.THRESH_OTSU);
-        HighGui.imshow("preview", wbImg);
-        HighGui.waitKey(100);
-
-        List<MatOfPoint> contours = new ArrayList<>();
-        Imgproc.findContours(wbImg, contours, new Mat(), Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_SIMPLE);
-
-        var resultImg = new Mat(800, 800, CvType.CV_8UC3);
-        // 绘制轮廓
-        var contourColor = new Scalar(255, 255, 255);
-        for ( var contour : contours ) {
-            Imgproc.drawContours(resultImg, List.of(contour), -1, contourColor, 3);
-            HighGui.imshow("preview", resultImg);
-            HighGui.waitKey(100);
-        }
-
-        List<Integer> errorSlotIndexList = new ArrayList<>();
-        var slotContourColor = new Scalar(0, 0, 255);
-        var slotContoursErrorColor = new Scalar(0, 255, 255);
-        for ( var index=0; index<16; index++ ) {
-            var slotContour = slotContours.get(index);
-            var isErrorSlot = false;
-            Rect slotRect = Imgproc.boundingRect(slotContour);
-
-            for ( var contour : contours ) {
-                Rect contourRect = Imgproc.boundingRect(contour);
-                if ( slotRect.contains(contourRect.tl()) && slotRect.contains(contourRect.br()) ) {
-                    errorSlotIndexList.add(index);
-                    isErrorSlot = true;
-                    break;
-                }
-            }
-
-            if ( isErrorSlot ) {
-                Imgproc.drawContours(resultImg, List.of(slotContour), -1, slotContoursErrorColor, 3);
-            } else {
-                Imgproc.drawContours(resultImg, List.of(slotContour), -1, slotContourColor, 3);
-            }
-            HighGui.imshow("preview", resultImg);
-            HighGui.waitKey(100);
-        }
-//        System.out.println("error slot index list: " + errorSlotIndexList);
-
-        HighGui.imshow("preview", resultImg);
-        HighGui.waitKey(100);
-    }
 }

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

@@ -4,7 +4,7 @@ import com.my.graphiteDigesterBg.diframe.DiTaskMoveBase;
 import com.my.graphiteDigesterBg.diframe.actuator.DiActMotor;
 import com.my.graphiteDigesterBg.diframe.actuator.DiActServo;
 import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlotManager;
-
+import java.util.List;
 public class MoveMoveTubeRackFromHeatPlateToLiquidPlate extends DiTaskMoveBase {
     // slot index
     public Integer slotIndex;
@@ -21,12 +21,12 @@ public class MoveMoveTubeRackFromHeatPlateToLiquidPlate extends DiTaskMoveBase {
         String key = "HeatingPlateMotorSlotCover_" + this.slotIndex;
         DiActServo slotCoverServo = this.getActuator(key, DiActServo.class);
 
-        // 加热盘转盘移动到取放架位置
-        heatPlateMotor.moveTo("HeatPlateSlot", this.slotIndex);
-        // 打开试管架盖
-        slotCoverServo.moveTo("HeatPlateSlotCoverOpen");
-        // 搬运上升到顶部
-        transUdMotor.moveTo("TransUdMotorTop");
+        this.execute(List.of(
+            () -> heatPlateMotor.moveTo("HeatPlateSlot", this.slotIndex), // 加热盘转盘移动到取放架位置
+            () -> slotCoverServo.moveTo("HeatPlateSlotCoverOpen"), // 打开试管架盖
+            () -> transUdMotor.moveTo("TransUdMotorTop") // 搬运上升到顶部
+        ));
+
         // 搬运移动到加热取架位置
         transLrMotor.moveTo("TransLrMotorHeatPlateSlot");
         // 搬运下降到取架位置
@@ -35,23 +35,25 @@ public class MoveMoveTubeRackFromHeatPlateToLiquidPlate extends DiTaskMoveBase {
         transferClipServo.moveTo("TransClipServoRackClip");
         // 搬运上升到顶部
         transUdMotor.moveTo("TransUdMotorTop");
-        // 搬运移动到加液取放架位置
-        transLrMotor.moveTo("TransLrMotorLiquid");
-        // 加液转盘移动到取放位置
-        liquidPlateMotor.moveTo("LiquidPlatePlaceTubeRack");
+
+        this.execute(List.of(
+            () -> transLrMotor.moveTo("TransLrMotorLiquid"), // 搬运移动到加液取放架位置
+            () -> liquidPlateMotor.moveTo("LiquidPlatePlaceTubeRack") // 加液转盘移动到取放位置
+        ));
+
         // 搬运下降到放架位置
         transUdMotor.moveTo("TransUdMotorLiquidDepth");
         // 关闭试管架夹爪
         transferClipServo.moveTo("TransClipServoClose");
         // 搬运上升到顶部
         transUdMotor.moveTo("TransUdMotorTop");
-        // 关闭试管架盖
-        slotCoverServo.moveTo("HeatPlateSlotCoverClose");
-        // 搬运移动到就绪位置
-        transLrMotor.moveTo("TransLrMotorStandby");
-        // 加热盘移动到就绪位置
-        heatPlateMotor.moveTo("HeatPlateStandby");
-        liquidPlateMotor.moveTo("LiquidPlateStandby");
+
+        this.execute(List.of(
+            () -> slotCoverServo.moveTo("HeatPlateSlotCoverClose"), // 关闭试管架盖
+            () -> transLrMotor.moveTo("TransLrMotorStandby"), // 搬运移动到就绪位置
+            () -> heatPlateMotor.moveTo("HeatPlateStandby"), // 加热盘转盘移动到就绪位置
+            () -> liquidPlateMotor.moveTo("LiquidPlateStandby") // 加液转盘移动到就绪位置
+        ));
 
         // 更新试管架位置
         var slotMan = this.getResourceManager(ResHeatingTubeRackSlotManager.class);

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

@@ -27,7 +27,7 @@ public class ResHeatingTubeRackSlot {
     // is slot locked
     private Boolean isLocked;
     // is heating
-    public Boolean isHeating;
+    public Boolean isHeating = false;
     // task uuid
     public String taskUuid;
     // manager