启动初始化完成

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

@@ -63,7 +63,7 @@ public class MyApplicationRunner implements ApplicationRunner {
         actuators.register(MyDevice.ACT_TRANSFER_UD_MOTOR, new DiActMotor(){{
             mid = 21;
         }});
-        actuators.register(MyDevice.ACT_TRANSFER_CLIP_SERVO, new DiActMotor(){{
+        actuators.register(MyDevice.ACT_TRANSFER_CLIP_SERVO, new DiActServo(){{
             mid = 22;
         }});
         actuators.register(MyDevice.ACT_TRANSFER_LR_MOTOR, new DiActMotor(){{
@@ -75,7 +75,7 @@ public class MyApplicationRunner implements ApplicationRunner {
         actuators.register(MyDevice.ACT_LIQUID_PLATE_MOTOR, new DiActMotor(){{
             mid = 51;
         }});
-        actuators.register(MyDevice.ACT_LIQUID_PERISTALTIC_PUMP, new DiActPeristalticPump(){{
+        actuators.register(MyDevice.ACT_LIQUID_PERISTALTIC_PUMP_0, new DiActPeristalticPump(){{
             mid = 61;
         }});
     }

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

@@ -8,7 +8,7 @@ public class MyDevice extends DiDevice {
     public static String ACT_TRANSFER_CLIP_SERVO = "transferClipServo";
     public static String ACT_LIQUID_MOTOR = "liquidMotor";
     public static String ACT_LIQUID_PLATE_MOTOR = "liquidPlateMotor";
-    public static String ACT_LIQUID_PERISTALTIC_PUMP = "liquidPeristalticPump";
+    public static String ACT_LIQUID_PERISTALTIC_PUMP_0 = "liquidPeristalticPump_0";
 
     public static String IO_HEAT_SLOT_01_HEATER_01 = "heatSlot1Heater1";
     public static String IO_HEAT_SLOT_01_HEATER_02 = "heatSlot1Heater2";

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

@@ -1,5 +1,7 @@
 package com.my.graphiteDigesterBg.diframe;
 import java.nio.ByteBuffer;
+import java.util.Timer;
+
 public class DiCommandRequest {
     // message id
     public short id;
@@ -15,4 +17,6 @@ public class DiCommandRequest {
     public Boolean isResponseReceived = false;
     // timeout count
     public Integer timeoutCount = 0;
+    // timeout timer
+    public Timer timeoutTimer = null;
 }

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

@@ -136,6 +136,10 @@ public class DiConSerialPort implements DiDeviceConnection {
         }
         request.response = this.receivedData;
         request.isResponseReceived = true;
+        if ( null != request.timeoutTimer ) {
+            request.timeoutTimer.cancel();
+            request.timeoutTimer = null;
+        }
         this.receivedData = null;
         synchronized ( request ) {
             request.notify();
@@ -148,18 +152,7 @@ public class DiConSerialPort implements DiDeviceConnection {
         byte[] data = request.parameter.array();
         this.connection.writeBytes(data, data.length);
         LOG.info("Command => {} : [{}]", request.parameterText, DiByteBuffer.toHex(request.parameter));
-
-        // setup timeout timer
-        TimerTask callTimeoutTimerTask = new TimerTask() {
-            @Override
-            public void run() {
-                DiConSerialPort.this.handleCallTimeout(request);
-            }
-        };
-        Timer callTimeoutTimer = new Timer();
-        Integer callTimeout = this.device.getConfig("connection.callTimeout", Integer.class);
-        callTimeoutTimer.schedule(callTimeoutTimerTask, callTimeout);
-
+        this.setupRequestTimeoutTimer(request);
         synchronized ( request ) {
             try {
                 request.wait();
@@ -175,9 +168,11 @@ public class DiConSerialPort implements DiDeviceConnection {
         if ( request.isResponseReceived ) {
             return ;
         }
+
         request.timeoutCount ++;
         if ( request.timeoutCount > 3 ) {
             synchronized ( request ) {
+                request.timeoutTimer = null;
                 request.errorCode = 8000;
                 request.notify();
             }
@@ -187,5 +182,19 @@ public class DiConSerialPort implements DiDeviceConnection {
         byte[] data = request.parameter.array();
         this.connection.writeBytes(data, data.length);
         LOG.info("Command (Retry:{}) => {} : [{}]", request.timeoutCount, request.parameterText, DiByteBuffer.toHex(request.parameter));
+        this.setupRequestTimeoutTimer(request);
+    }
+
+    // setup request timeout timer
+    private void setupRequestTimeoutTimer(DiCommandRequest request) {
+        TimerTask callTimeoutTimerTask = new TimerTask() {
+            @Override
+            public void run() {
+                DiConSerialPort.this.handleCallTimeout(request);
+            }
+        };
+        request.timeoutTimer = new Timer();
+        Integer callTimeout = this.device.getConfig("connection.callTimeout", Integer.class);
+        request.timeoutTimer.schedule(callTimeoutTimerTask, callTimeout);
     }
 }

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

@@ -1,16 +1,10 @@
 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.DiActPeristalticPump;
 @Task(name="Digestion")
 public class TaskDigestion extends DiTaskBase {
     @Override
     public void run() {
-        DiActPeristalticPump peristalticPump = (DiActPeristalticPump)this.getDevice().getActuators().get(MyDevice.ACT_LIQUID_PERISTALTIC_PUMP);
-        peristalticPump.setEnable(true);
-        peristalticPump.rotate();
-
         System.out.println("TaskDigestion.run()");
         this.setStatus(TaskStatus.FINISHED);
     }

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

@@ -4,6 +4,7 @@ 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;
+import com.my.graphiteDigesterBg.diframe.actuator.DiActPeristalticPump;
 import com.my.graphiteDigesterBg.diframe.actuator.DiActServo;
 import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlot;
 import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlotManager;
@@ -65,7 +66,21 @@ public class TaskStartReset extends DiTaskBase {
         heatPlateMotor.activeConfig();
         heatPlateMotor.reset();
 
-        //
+        // 试管夹爪舵机
+        DiActServo transferClipServo = this.getActuator(MyDevice.ACT_TRANSFER_CLIP_SERVO, DiActServo.class);
+        transferClipServo.setEnable(true);
+        registers.resetAllByModuleId(transferClipServo.getMid());
+        transferClipServo.activeConfig();
+
+        // 蠕动泵
+        for (int i = 0; i<1; i++) {
+            String pumpKey = "liquidPeristalticPump_" + Integer.toString(i);
+            DiActPeristalticPump pump = this.getActuator(pumpKey, DiActPeristalticPump.class);
+            pump.setEnable(true);
+            registers.resetAllByModuleId(pump.getMid());
+            pump.activeConfig();
+        }
+
         this.setStatus(TaskStatus.FINISHED);
     }
 }

src/src/main/resources/application.yml

@@ -4,16 +4,4 @@ device :
     path : COM7
     baudRate : 921600
     frameTimeout : 1000
-    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}
+    mode : binary # text | hex | binary

src/src/main/resources/device.yml

@@ -75,3 +75,15 @@ registers :
   - {key: "HeatingPlateMotorLookZeroEdgeDec" , mid : 11, index : 1076, defaultValue : 30}
   - {key: "HeatingPlateMotorStepMotorIHold" , mid : 11, index : 1058, defaultValue : 0}
   - {key: "HeatingPlateMotorStepMotorIRun" , mid : 11, index : 1059, defaultValue : 15}
+ # 试管夹爪舵机
+  - {key: "TransferClipServeMotorDefaultVelocity" , mid : 22, index : 1054, defaultValue : 400}
+  - {key: "TransferClipServeMotorDefaultTorque" , mid : 22, index : 1077, defaultValue : 300}
+ # 加酸蠕动泵
+  - {key: "LiquidPeristalticPump0MotorShaft" , mid : 61, index : 1051, defaultValue : 0}
+  - {key: "LiquidPeristalticPump0MotorOneCirclePulse" , mid : 61, index : 1052, defaultValue : 100}
+  - {key: "LiquidPeristalticPump0MotorOneCirclePulseDenominator" , mid : 61, index : 1053, defaultValue : 1}
+  - {key: "LiquidPeristalticPump0MotorDefaultVelocity" , mid : 61, index : 1054, defaultValue : 500}
+  - {key: "LiquidPeristalticPump0MotorDefaultAcc" , mid : 61, index : 1055, defaultValue : 300}
+  - {key: "LiquidPeristalticPump0MotorDefaultDec" , mid : 61, index : 1056, defaultValue : 300}
+  - {key: "LiquidPeristalticPump0MotorStepMotorIHold" , mid : 61, index : 1058, defaultValue : 0}
+  - {key: "LiquidPeristalticPump0MotorStepMotorIRun" , mid : 61, index : 1059, defaultValue : 4}